- Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming", Nonlinear Analysis: Hybrid Systems, December 2024.
BibTeX TR2024-008 PDF- @article{Shirai2024dec,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
- title = {Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming},
- journal = {Nonlinear Analysis: Hybrid Systems},
- year = 2024,
- month = dec,
- url = {https://www.merl.com/publications/TR2024-008}
- }
- Zhu, X., Jha, D.K., Romeres, D., Sun, L., Tomizuka, M., Cherian, A., "Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection", IEEE International Conference on Robotics and Automation (ICRA), March 2024.
BibTeX TR2024-033 PDF Video- @inproceedings{Zhu2024mar,
- author = {Zhu, Xinghao and Jha, Devesh K. and Romeres, Diego and Sun, Lingfeng and Tomizuka, Masayoshi and Cherian, Anoop},
- title = {Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- month = mar,
- url = {https://www.merl.com/publications/TR2024-033}
- }
- Liang, B., Ota, K., Tomizuka, M., Jha, D.K., "Robust In-Hand Manipulation with Extrinsic Contacts", arXiv, March 2024.
BibTeX arXiv- @article{Liang2024mar,
- author = {Liang, Boyuan and Ota, Kei and Tomizuka, Masayoshi and Jha, Devesh K.},
- title = {Robust In-Hand Manipulation with Extrinsic Contacts},
- journal = {arXiv},
- year = 2024,
- month = mar,
- url = {https://arxiv.org/abs/2403.18960}
- }
- Zhao, G., Jha, D.K., Wang, Y., Zhu, M., "iPolicy: Incremental Policy Algorithms for Feedback Motion Planning", arXiv, January 2024.
BibTeX arXiv- @article{Zhao2024jan,
- author = {Zhao, Guoxiang and Jha, Devesh K. and Wang, Yebin and Zhu, Minghui},
- title = {iPolicy: Incremental Policy Algorithms for Feedback Motion Planning},
- journal = {arXiv},
- year = 2024,
- month = jan,
- url = {https://arxiv.org/abs/2401.02883}
- }
- Sun, L., Jha, D.K., Hori, C., Jain, S., Corcodel, R., Zhu, X., Tomizuka, M., Romeres, D., "Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks", Advances in Neural Information Processing Systems (NeurIPS) Workshop on Instruction Tuning and Instruction Following, December 2023.
BibTeX TR2023-148 PDF- @inproceedings{Sun2023dec,
- author = {Sun, Lingfeng and Jha, Devesh K. and Hori, Chiori and Jain, Siddarth and Corcodel, Radu and Zhu, Xinghao and Tomizuka, Masayoshi and Romeres, Diego},
- title = {Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks},
- booktitle = {Advances in Neural Information Processing Systems (NeurIPS) Workshop on Instruction Tuning and Instruction Following},
- year = 2023,
- month = dec,
- url = {https://www.merl.com/publications/TR2023-148}
- }
- Sun, L., Jha, D.K., Hori, C., Jain, S., Corcodel, R., Zhu, X., Tomizuka, M., Romeres, D., "Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks", arXiv, December 2023.
BibTeX arXiv- @article{Sun2023dec2,
- author = {Sun, Lingfeng and Jha, Devesh K. and Hori, Chiori and Jain, Siddarth and Corcodel, Radu and Zhu, Xinghao and Tomizuka, Masayoshi and Romeres, Diego},
- title = {Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks},
- journal = {arXiv},
- year = 2023,
- month = dec,
- url = {https://arxiv.org/abs/2312.06876}
- }
- Shaw, S., Jha, D.K., Raghunathan, A., Corcodel, R., Romeres, D., Konidaris, G., Nikovski, D., "Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/IROS55552.2023.10341839, September 2023, pp. 3672-3679.
BibTeX TR2023-121 PDF Video- @inproceedings{Shaw2023sep,
- author = {Shaw, Seiji and Jha, Devesh K. and Raghunathan, Arvind and Corcodel, Radu and Romeres, Diego and Konidaris, George and Nikovski, Daniel},
- title = {Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments},
- booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2023,
- pages = {3672--3679},
- month = sep,
- publisher = {IEEE},
- doi = {10.1109/IROS55552.2023.10341839},
- issn = {2153-0866},
- isbn = {978-1-6654-9190-7},
- url = {https://www.merl.com/publications/TR2023-121}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., "Contact-Aware Covariance Control of Stochastic Contact-Rich Systems", IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation, September 2023.
BibTeX TR2023-120 PDF- @inproceedings{Shirai2023sep,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
- title = {Contact-Aware Covariance Control of Stochastic Contact-Rich Systems},
- booktitle = {IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation},
- year = 2023,
- month = sep,
- url = {https://www.merl.com/publications/TR2023-120}
- }
- Ota, K., Jha, D.K., Jatavallabhula, K., Kanezaki, A., Tenenbaum, J.B., "Estimation of Extrinsic Contact Patch for Stable Placement", IEEE IROS 2023 Workshop on Visuo-Tactile Perception, Learning, Control for Manipulation and HRI, September 2023.
BibTeX TR2024-018 PDF- @inproceedings{Ota2023sep2,
- author = {Ota, Kei and Jha, Devesh K. and Jatavallabhula, Krishna and Kanezaki, Asako and Tenenbaum, Joshua B.},
- title = {Estimation of Extrinsic Contact Patch for Stable Placement},
- booktitle = {IEEE IROS 2023 Workshop on Visuo-Tactile Perception, Learning, Control for Manipulation and HRI},
- year = 2023,
- month = sep,
- url = {https://www.merl.com/publications/TR2024-018}
- }
- Ota, K., Jha, D.K., Jatavallabhula, K.M., Kanezaki, A., Tenenbaum, J.B., "Tactile Estimation of Extrinsic Contact Patch for Stable Placement", arXiv, September 2023.
BibTeX arXiv- @article{Ota2023sep,
- author = {Ota, Kei and Jha, Devesh K. and Jatavallabhula, Krishna Murthy and Kanezaki, Asako and Tenenbaum, Joshua B.},
- title = {Tactile Estimation of Extrinsic Contact Patch for Stable Placement},
- journal = {arXiv},
- year = 2023,
- month = sep,
- url = {https://arxiv.org/abs/2309.14552}
- }
- Hori, C., Peng, P., Harwath, D., Liu, X., Ota, K., Jain, S., Corcodel, R., Jha, D.K., Romeres, D., Le Roux, J., "Style-transfer based Speech and Audio-visual Scene understanding for Robot Action Sequence Acquisition from Videos", Interspeech, DOI: 10.21437/Interspeech.2023-1983, August 2023, pp. 4663-4667.
BibTeX TR2023-104 PDF- @inproceedings{Hori2023aug,
- author = {Hori, Chiori and Peng, Puyuang and Harwath, David and Liu, Xinyu and Ota, Kei and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and Le Roux, Jonathan},
- title = {Style-transfer based Speech and Audio-visual Scene understanding for Robot Action Sequence Acquisition from Videos},
- booktitle = {Interspeech},
- year = 2023,
- pages = {4663--4667},
- month = aug,
- doi = {10.21437/Interspeech.2023-1983},
- url = {https://www.merl.com/publications/TR2023-104}
- }
- Li, W., Wang, M., Li, J., Su, Y., Jha, D.K., Qian, X., Althoefer, K., Liu, H., "L3 F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing", IEEE Robotics and Automation Letters (RA-L), DOI: 10.1109/LRA.2023.3292575, Vol. 8, No. 8, pp. 5148-5155, July 2023.
BibTeX TR2023-081 PDF- @article{Li2023jul,
- author = {Li, Wanlin and Wang, Meng and Li, Jiarui and Su, Yao and Jha, Devesh K. and Qian, Xingyuan and Althoefer, Kaspar and Liu, Hangxin},
- title = {L3 F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing},
- journal = {IEEE Robotics and Automation Letters (RA-L)},
- year = 2023,
- volume = 8,
- number = 8,
- pages = {5148--5155},
- month = jul,
- doi = {10.1109/LRA.2023.3292575},
- url = {https://www.merl.com/publications/TR2023-081}
- }
- Ota, K., Jain, S., Zhang, M., Jha, D.K., "Tactile Pose Feedback for Closed-loop Manipulation Tasks", RSS 23 Workshop on Learning Dexterous Manipulation, July 2023.
BibTeX TR2023-082 PDF- @inproceedings{Ota2023jul,
- author = {Ota, Kei and Jain, Siddarth and Zhang, Mengchao and Jha, Devesh K.},
- title = {Tactile Pose Feedback for Closed-loop Manipulation Tasks},
- booktitle = {RSS 23 Workshop on Learning Dexterous Manipulation},
- year = 2023,
- month = jul,
- url = {https://www.merl.com/publications/TR2023-082}
- }
- Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning", Robotics: Science and Systems (RSS), DOI: 10.15607/RSS.2023.XIX.044, July 2023.
BibTeX TR2023-078 PDF Video- @inproceedings{Zhang2023jul,
- author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
- title = {Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning},
- booktitle = {Robotics: Science and Systems (RSS)},
- year = 2023,
- month = jul,
- doi = {10.15607/RSS.2023.XIX.044},
- url = {https://www.merl.com/publications/TR2023-078}
- }
- Jha, D.K., Romeres, D., Jain, S., Yerazunis, W.S., Nikovski, D., "Design of Adaptive Compliance Controllers for Safe Robotic Assembly", European Control Conference (ECC), DOI: 10.23919/ECC57647.2023.10178229, June 2023.
BibTeX TR2023-070 PDF- @inproceedings{Jha2023jun,
- author = {Jha, Devesh K. and Romeres, Diego and Jain, Siddarth and Yerazunis, William S. and Nikovski, Daniel},
- title = {Design of Adaptive Compliance Controllers for Safe Robotic Assembly},
- booktitle = {European Control Conference (ECC)},
- year = 2023,
- month = jun,
- doi = {10.23919/ECC57647.2023.10178229},
- url = {https://www.merl.com/publications/TR2023-070}
- }
- Ota, K., Jha, D.K., Tung, H.-Y., Tenenbaum, J.B., "Tactile-Filter: Interactive Tactile Perception for Part Mating", Robotics: Science and Systems (RSS), DOI: 10.15607/RSS.2023.XIX.079, June 2023.
BibTeX TR2023-077 PDF- @inproceedings{Ota2023jun,
- author = {Ota, Kei and Jha, Devesh K. and Tung, Hsiao-Yu and Tenenbaum, Joshua B.},
- title = {Tactile-Filter: Interactive Tactile Perception for Part Mating},
- booktitle = {Robotics: Science and Systems (RSS)},
- year = 2023,
- month = jun,
- doi = {10.15607/RSS.2023.XIX.079},
- url = {https://www.merl.com/publications/TR2023-077}
- }
- Jha, D.K., Jain, S., Romeres, D., Yerazunis, W.S., Nikovski, D., "Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control", European Control Conference (ECC), DOI: 10.23919/ECC57647.2023.10178330, May 2023, pp. 1-8.
BibTeX TR2023-065 PDF- @inproceedings{Jha2023may,
- author = {Jha, Devesh K. and Jain, Siddarth and Romeres, Diego and Yerazunis, William S. and Nikovski, Daniel},
- title = {Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control},
- booktitle = {European Control Conference (ECC)},
- year = 2023,
- pages = {1--8},
- month = may,
- doi = {10.23919/ECC57647.2023.10178330},
- url = {https://www.merl.com/publications/TR2023-065}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization in Contact-rich Systems", American Control Conference (ACC), DOI: 10.23919/ACC55779.2023.10156516, May 2023, pp. 14-21.
BibTeX TR2023-061 PDF- @inproceedings{Shirai2023may4,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
- title = {Chance-Constrained Optimization in Contact-rich Systems},
- booktitle = {American Control Conference (ACC)},
- year = 2023,
- pages = {14--21},
- month = may,
- publisher = {IEEE},
- doi = {10.23919/ACC55779.2023.10156516},
- url = {https://www.merl.com/publications/TR2023-061}
- }
- Jain, S., Corcodel, R., Jha, D.K., Romeres, D., "Vision Guided Food Assembly by Robot Teaching from Target Composition", ICRA 2023 Workshop on Task-Informed Grasping IV (TIG-IV): From Farm to Fork, May 2023.
BibTeX TR2023-067 PDF- @inproceedings{Jain2023may,
- author = {Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego},
- title = {Vision Guided Food Assembly by Robot Teaching from Target Composition},
- booktitle = {ICRA 2023 Workshop on Task-Informed Grasping IV (TIG-IV): From Farm to Fork},
- year = 2023,
- month = may,
- url = {https://www.merl.com/publications/TR2023-067}
- }
- Kim, S., Jha, D.K., Romeres, D., Rodriguez, A., "Simultaneous Tactile Estimation and Control of Extrinsic Contact", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA48891.2023.10161158, May 2023, pp. 12563-12569.
BibTeX TR2023-025 PDF Video- @inproceedings{Kim2023may,
- author = {Kim, Sangwoon and Jha, Devesh K. and Romeres, Diego and Rodriguez, Alberto},
- title = {Simultaneous Tactile Estimation and Control of Extrinsic Contact},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2023,
- pages = {12563--12569},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA48891.2023.10161158},
- url = {https://www.merl.com/publications/TR2023-025}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., "Covariance Steering for Uncertain Contact-Rich Systems", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA48891.2023.10160249, May 2023, pp. 7923-7929.
BibTeX TR2023-024 PDF- @inproceedings{Shirai2023may3,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
- title = {Covariance Steering for Uncertain Contact-Rich Systems},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2023,
- pages = {7923--7929},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA48891.2023.10160249},
- isbn = {979-8-3503-2365-8},
- url = {https://www.merl.com/publications/TR2023-024}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., Hong, D., "Tactile Tool Manipulation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA48891.2023.10160480, May 2023, pp. 12597-12603.
BibTeX TR2023-023 PDF Video- @inproceedings{Shirai2023may2,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Hong, Dennis},
- title = {Tactile Tool Manipulation},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2023,
- pages = {12597--12603},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA48891.2023.10160480},
- isbn = {979-8-3503-2365-8},
- url = {https://www.merl.com/publications/TR2023-023}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., Hong, D., "Closed-Loop Tactile Controller for Tool Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.
BibTeX TR2023-043 PDF- @inproceedings{Shirai2023may,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Hong, Dennis},
- title = {Closed-Loop Tactile Controller for Tool Manipulation},
- booktitle = {ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world},
- year = 2023,
- month = may,
- url = {https://www.merl.com/publications/TR2023-043}
- }
- Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.
BibTeX TR2023-044 PDF- @inproceedings{Zhang2023may3,
- author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
- title = {STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation},
- booktitle = {ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world},
- year = 2023,
- month = may,
- url = {https://www.merl.com/publications/TR2023-044}
- }
- Rosen, E., Jha, D.K., "A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators", arXiv, May 2023.
BibTeX arXiv- @article{Rosen2023may,
- author = {Rosen, Eric and Jha, Devesh K.},
- title = {A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators},
- journal = {arXiv},
- year = 2023,
- month = may,
- url = {https://arxiv.org/abs/2305.10960}
- }