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Diego Romeres

Diego Romeres
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  • Biography

    Diego's research interests are in machine learning, system identification and robotic applications. At MERL he is currently working on applying nonparametric machine learning techniques for the control of robotic platforms. His Ph.D. thesis is about the combination of nonparametric data-driven models and physics-based models in gaussian processes for robot dynamics learning.

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  • Internships with Diego

    • DA1396: Machine learning for Contact-rich Robotic Manipulation

      MERL is looking for a highly motivated individual to work on contact-rich robotic manipulation applications. The ideal candidate is expected to have expertise both in machine learning techniques, such as Gaussian Process Regression and Deep Neural Networks, as well as in reinforcement learning algorithms. In addition, having experience with robotic systems would be considered a significant plus. The candidate will be expected to develop novel algorithms and possibly implement them on robotic systems. Proficiency in Python programming is necessary, and experience with ROS would be a plus. The candidate will collaborate closely with MERL researchers. Start date for this internship is flexible, and the duration is expected to be 3-6 months.

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  • MERL Publications

    •  Jha, D., Kolaric, P., Romeres, D., Raghunathan, A., Benosman, M., Nikovski, D.N., "Robust Optimization for Trajectory-Centric Model-based Reinforcement Learning", NeurIPS Workshop on Safety and Robustness in Decision Making, December 2019.
      BibTeX Download PDFAbout TR2019-156
      • @inproceedings{Jha2019dec2,
      • author = {Jha, Devesh and Kolaric, Patrik and Romeres, Diego and Raghunathan, Arvind and Benosman, Mouhacine and Nikovski, Daniel N.},
      • title = {Robust Optimization for Trajectory-Centric Model-based Reinforcement Learning},
      • booktitle = {NeurIPS Workshop on Safety and Robustness in Decision Making},
      • year = 2019,
      • month = dec,
      • url = {https://www.merl.com/publications/TR2019-156}
      • }
    •  Jha, D., Raghunathan, A., Romeres, D., "QNTRPO: Including Curvature in TRPO", Optimization Foundations for Reinforcement Learning Workshop at NeurIPS, December 2019.
      BibTeX Download PDFAbout TR2019-154
      • @inproceedings{Jha2019dec,
      • author = {Jha, Devesh and Raghunathan, Arvind and Romeres, Diego},
      • title = {QNTRPO: Including Curvature in TRPO},
      • booktitle = {Optimization Foundations for Reinforcement Learning Workshop at NeurIPS},
      • year = 2019,
      • month = dec,
      • url = {https://www.merl.com/publications/TR2019-154}
      • }
    •  Jha, D., Raghunathan, A., Romeres, D., "Quasi-Newton Trust Region Policy Optimization", Conference on Robot Learning (CoRL), October 2019.
      BibTeX Download PDFAbout TR2019-120
      • @inproceedings{Jha2019oct,
      • author = {Jha, Devesh and Raghunathan, Arvind and Romeres, Diego},
      • title = {Quasi-Newton Trust Region Policy Optimization},
      • booktitle = {Conference on Robot Learning (CoRL)},
      • year = 2019,
      • month = oct,
      • url = {https://www.merl.com/publications/TR2019-120}
      • }
    •  Romeres, D., Jha, D., Dau, H., Yerazunis, W.S., Nikovski, D.N., "Anomaly Detection for Insertion Tasks in Robotic Assembly Using Gaussian Process Models", European Control Conference (ECC), DOI: 10.23919/ECC.2019.8795698, ISBN: 978-3-907144-00-8, June 2019, pp. 1017-1022.
      BibTeX Download PDFAbout TR2019-055
      • @inproceedings{Romeres2019jun,
      • author = {Romeres, Diego and Jha, Devesh and Dau, Hoang and Yerazunis, William S. and Nikovski, Daniel N.},
      • title = {Anomaly Detection for Insertion Tasks in Robotic Assembly Using Gaussian Process Models},
      • booktitle = {European Control Conference (ECC)},
      • year = 2019,
      • pages = {1017--1022},
      • month = jun,
      • publisher = {IEEE},
      • doi = {10.23919/ECC.2019.8795698},
      • isbn = {978-3-907144-00-8},
      • url = {https://www.merl.com/publications/TR2019-055}
      • }
    •  Romeres, D., Jha, D., Dalla Libera, A., Yerazunis, W.S., Nikovski, D.N., "Semiparametrical Gaussian Processes Learning of Forward Dynamical Models for Navigating in a Circular Maze", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA.2019.8794229, ISSN: 2577-087X, ISBN: 978-1-5386-6027-0, May 2019, pp. 3195-3202.
      BibTeX Download PDFAbout TR2019-028
      • @inproceedings{Romeres2019may,
      • author = {Romeres, Diego and Jha, Devesh and Dalla Libera, Alberto and Yerazunis, William S. and Nikovski, Daniel N.},
      • title = {Semiparametrical Gaussian Processes Learning of Forward Dynamical Models for Navigating in a Circular Maze},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2019,
      • pages = {3195--3202},
      • month = may,
      • publisher = {IEEE},
      • doi = {10.1109/ICRA.2019.8794229},
      • issn = {2577-087X},
      • isbn = {978-1-5386-6027-0},
      • url = {https://www.merl.com/publications/TR2019-028}
      • }
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  • Other Publications

    •  Diego Romeres, Giulia Prando, Gianluigi Pillonetto and Alessandro Chiuso, "On-line bayesian system identification", Control Conference (ECC), 2016 European, 2016, pp. 1359-1364.
      BibTeX
      • @Inproceedings{romeres2016line,
      • author = {Romeres, Diego and Prando, Giulia and Pillonetto, Gianluigi and Chiuso, Alessandro},
      • title = {On-line bayesian system identification},
      • booktitle = {Control Conference (ECC), 2016 European},
      • year = 2016,
      • pages = {1359--1364},
      • organization = {IEEE}
      • }
    •  Diego Romeres, Mattia Zorzi, Raffaello Camoriano and Alessandro Chiuso, "Online semi-parametric learning for inverse dynamics modeling", Decision and Control (CDC), 2016 IEEE 55th Conference on, 2016, pp. 2945-2950.
      BibTeX
      • @Inproceedings{romeres2016online,
      • author = {Romeres, Diego and Zorzi, Mattia and Camoriano, Raffaello and Chiuso, Alessandro},
      • title = {Online semi-parametric learning for inverse dynamics modeling},
      • booktitle = {Decision and Control (CDC), 2016 IEEE 55th Conference on},
      • year = 2016,
      • pages = {2945--2950},
      • organization = {IEEE}
      • }
    •  Diego Romeres, Mattia Zorzi, Raffaello Camoriano and Alessandro Chiuso, "Online semi-parametric learning for inverse dynamics modeling", Decision and Control (CDC), 2016 IEEE 55th Conference on, 2016, pp. 2945-2950.
      BibTeX
      • @Inproceedings{romeres2016onlinesemiparametric,
      • author = {Romeres, Diego and Zorzi, Mattia and Camoriano, Raffaello and Chiuso, Alessandro},
      • title = {Online semi-parametric learning for inverse dynamics modeling},
      • booktitle = {Decision and Control (CDC), 2016 IEEE 55th Conference on},
      • year = 2016,
      • pages = {2945--2950},
      • organization = {IEEE}
      • }
    •  Giulia Prando, Diego Romeres, Gianluigi Pillonetto and Alessandro Chiuso, "Classical vs. Bayesian methods for linear system identification: Point estimators and confidence sets", Control Conference (ECC), 2016 European, 2016, pp. 1365-1370.
      BibTeX
      • @Inproceedings{tprando2016classical,
      • author = {Prando, Giulia and Romeres, Diego and Pillonetto, Gianluigi and Chiuso, Alessandro},
      • title = {Classical vs. Bayesian methods for linear system identification: Point estimators and confidence sets},
      • booktitle = {Control Conference (ECC), 2016 European},
      • year = 2016,
      • pages = {1365--1370},
      • organization = {IEEE}
      • }
    •  Giulia Prando, Diego Romeres and Alessandro Chiuso, "Online identification of time-varying systems: A Bayesian approach", Decision and Control (CDC), 2016 IEEE 55th Conference on, 2016, pp. 3775-3780.
      BibTeX
      • @Inproceedings{tprando2016online,
      • author = {Prando, Giulia and Romeres, Diego and Chiuso, Alessandro},
      • title = {Online identification of time-varying systems: A Bayesian approach},
      • booktitle = {Decision and Control (CDC), 2016 IEEE 55th Conference on},
      • year = 2016,
      • pages = {3775--3780},
      • organization = {IEEE}
      • }
    •  Ulrich Muenz and Diego Romeres, "Region of attraction of power systems", IFAC Proceedings Volumes, Vol. 46, No. 27, pp. 49-54, 2013.
      BibTeX
      • @Article{munz2013region,
      • author = {Muenz, Ulrich and Romeres, Diego},
      • title = {Region of attraction of power systems},
      • journal = {IFAC Proceedings Volumes},
      • year = 2013,
      • volume = 46,
      • number = 27,
      • pages = {49--54},
      • publisher = {Elsevier}
      • }
    •  Diego Romeres, Florian Doerfler and Francesco Bullo, "Novel results on slow coherency in consensus and power networks", Control Conference (ECC), 2013 European, 2013, pp. 742-747.
      BibTeX
      • @Inproceedings{romeres2013novel,
      • author = {Romeres, Diego and Doerfler, Florian and Bullo, Francesco},
      • title = {Novel results on slow coherency in consensus and power networks},
      • booktitle = {Control Conference (ECC), 2013 European},
      • year = 2013,
      • pages = {742--747},
      • organization = {IEEE}
      • }
    •  Saverio Bolognani, Andrea Carron, Alberto Di Vittorio, Diego Romeres, Luca Schenato and Sandro Zampieri, "Distributed multi-hop reactive power compensation in smart micro-grids subject to saturation constraints", Decision and Control (CDC), 2012 IEEE 51st Annual Conference on, 2012, pp. 1118-1123.
      BibTeX
      • @Inproceedings{bolognani2012distributed,
      • author = {Bolognani, Saverio and Carron, Andrea and Di Vittorio, Alberto and Romeres, Diego and Schenato, Luca and Zampieri, Sandro},
      • title = {Distributed multi-hop reactive power compensation in smart micro-grids subject to saturation constraints},
      • booktitle = {Decision and Control (CDC), 2012 IEEE 51st Annual Conference on},
      • year = 2012,
      • pages = {1118--1123},
      • organization = {IEEE}
      • }

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