Publications

3,612 major publications by members of the MERL staff.


  •  Elango, P., Vinod, A.P., Kitamura, K., Acikmese, B., Di Cairano, S., Weiss, A., "Continuous-Time Successive Convexification for Passively-Safe Spacecraft Rendezvous on a Near Rectilinear Halo Orbit", AIAA SciTech Forum 2026, January 2026.
    BibTeX
    • @inproceedings{Elango2026jan,
    • author = {Elango, Purnanand and Vinod, Abraham P. and Kitamura, Kenji and Acikmese, Behcet and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Continuous-Time Successive Convexification for Passively-Safe Spacecraft Rendezvous on a Near Rectilinear Halo Orbit}},
    • booktitle = {AIAA SciTech Forum 2026},
    • year = 2026,
    • month = jan
    • }
  •  Kamath, A., Vinod, A.P., Elango, P., Di Cairano, S., Weiss, A., "Robust Optimal Control for Autonomous Precision Landing via Set-based Dynamic Programming", AIAA SciTech Forum, DOI: 10.2514/​6.2026-0970, January 2026, pp. 2026-0970.
    BibTeX External
    • @inproceedings{Kamath2026jan,
    • author = {Kamath, Abhinav and Vinod, Abraham P. and Elango, Purnanand and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Robust Optimal Control for Autonomous Precision Landing via Set-based Dynamic Programming}},
    • booktitle = {AIAA SciTech 2026 Forum},
    • year = 2026,
    • pages = {2026--0970},
    • month = jan,
    • publisher = {AIAA},
    • doi = {10.2514/6.2026-0970},
    • url = {https://arc.aiaa.org/doi/abs/10.2514/6.2026-0970}
    • }
  •  Kento, T., Elango, P., Vinod, A.P., Di Cairano, S., Weiss, A., "Powered Descent Decision Making: A Reachability-Steering Approach", AIAA SciTech Forum, January 2026.
    BibTeX
    • @inproceedings{Kento2026jan,
    • author = {Kento, Tomita and Elango, Purnanand and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Powered Descent Decision Making: A Reachability-Steering Approach}},
    • booktitle = {AIAA SciTech Forum},
    • year = 2026,
    • month = jan
    • }
  •  Wiebe, F., Turcato, N., Dalla Libera, A., Seong Bjorn Choe, J., Choi, B., Faust, T.L., Maraqten, H., Aghadavoodi, E., Cali, M., Sinigaglia, A., Giacomuzzo, G., Carli, R., Romeres, D., Kim, J.-K., Susto, G.A., Vyas, S., Mronga, D., Belousov, B., Peters, J., Kirchner, F., Kumar, S., "Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd “AI Olympics with RealAIGym” Competition", IEEE Robotics & Automation Magazine, January 2026.
    BibTeX
    • @article{Wiebe2026jan,
    • author = {{{Wiebe, Felix and Turcato, Niccolò and Dalla Libera, Alberto and Seong Bjorn Choe, Jean and Choi, Bumkyu and Faust, Tim Lukas and Maraqten, Habib and Aghadavoodi, Erfan and Cali, Marco and Sinigaglia, Alberto and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego and Kim, Jong-kook and Susto, Gian Antonio and Vyas, Shubham and Mronga, Dennis and Belousov, Boris and Peters, Jan and Kirchner, Frank and Kumar, Shivesh}}},
    • title = {{{Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd “AI Olympics with RealAIGym” Competition}}},
    • journal = {IEEE Robotics \& Automation Magazine},
    • year = 2026,
    • month = jan
    • }
  •  Jeon, C.-B., Wichern, G., Germain, F.G., Le Roux, J., "Embracing Cacophony: Explaining and Improving Random Mixing in Music Source Separation", IEEE Open Journal of Signal Processing, DOI: 10.1109/​OJSP.2025.3633567, Vol. 6, pp. 1179-1192, January 2026.
    BibTeX IEEE Xplore
    • @article{Jeon2026jan,
    • author = {Jeon, Chang-Bin and Wichern, Gordon and Germain, François G and {Le Roux}, Jonathan},
    • title = {{Embracing Cacophony: Explaining and Improving Random Mixing in Music Source Separation}},
    • journal = {IEEE Open Journal of Signal Processing},
    • year = 2026,
    • volume = 6,
    • pages = {1179--1192},
    • month = jan,
    • doi = {10.1109/OJSP.2025.3633567},
    • url = {https://ieeexplore.ieee.org/document/11250641}
    • }
  •  Xu, Z., Shirai, Y., "UNIC: Learning Unified Multimodal Extrinsic Contact Estimation", arXiv, January 2026.
    BibTeX arXiv
    • @article{Xu2026jan,
    • author = {Xu, Zhengtong and Shirai, Yuki},
    • title = {{UNIC: Learning Unified Multimodal Extrinsic Contact Estimation}},
    • journal = {arXiv},
    • year = 2026,
    • month = jan,
    • url = {https://www.arxiv.org/abs/2601.04356}
    • }
  •  Shirai, Y., Ota, K., Jha, D.K., Romeres, D., "Learning Non-prehensile Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations", IEEE Robotics and Automation Letters, January 2026.
    BibTeX
    • @article{Shirai2026jan,
    • author = {Shirai, Yuki and Ota, Kei and Jha, Devesh K. and Romeres, Diego},
    • title = {{Learning Non-prehensile Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations}},
    • journal = {IEEE Robotics and Automation Letters},
    • year = 2026,
    • month = jan
    • }
  •  Wilkinghoff, K., Yang, H., Ebbers, J., Germain, F.G., Wichern, G., Le Roux, J., "Local Density-Based Anomaly Score Normalization for Domain Generalization", IEEE Transactions on Audio, Speech and Language Processing, DOI: 10.1109/​TASLPRO.2025.3629236, Vol. 33, pp. 4642-4652, January 2026.
    BibTeX IEEE Xplore
    • @article{Wilkinghoff2026jan,
    • author = {Wilkinghoff, Kevin and Yang, Haici and Ebbers, Janek and Germain, François G and Wichern, Gordon and {Le Roux}, Jonathan},
    • title = {{Local Density-Based Anomaly Score Normalization for Domain Generalization}},
    • journal = {IEEE Transactions on Audio, Speech and Language Processing},
    • year = 2026,
    • volume = 33,
    • pages = {4642--4652},
    • month = jan,
    • doi = {10.1109/TASLPRO.2025.3629236},
    • issn = {2998-4173},
    • url = {https://ieeexplore.ieee.org/document/11229958}
    • }
  •  Cornell, S., Boeddeker, C., Park, T., Huang, H., Raj, D., Wiesner, M., Masuyama, Y., Chang, X., Wang, Z.-Q., Squartini, S., Garcia, P., Watanabe, S., "Recent Trends in Distant Conversational Speech Recognition: A Review of CHiME-7 and 8 DASR Challenges", Computer Speech & Language, DOI: 10.1016/​j.csl.2025.101901, Vol. 97, pp. 101901, December 2025.
    BibTeX External
    • @article{Cornell2025dec,
    • author = {Cornell, Samuele and Boeddeker, Christoph and Park, Taejin and Huang, He and Raj, Desh and Wiesner, Matthew and Masuyama, Yoshiki and Chang, Xuankai and Wang, Zhong-Qiu and Squartini, Stefano and Garcia, Paola and Watanabe, Shinji},
    • title = {{Recent Trends in Distant Conversational Speech Recognition: A Review of CHiME-7 and 8 DASR Challenges}},
    • journal = {Computer Speech \& Language},
    • year = 2025,
    • volume = 97,
    • pages = 101901,
    • month = dec,
    • doi = {10.1016/j.csl.2025.101901},
    • url = {https://www.sciencedirect.com/science/article/pii/S0885230825001263}
    • }
  •  Masuyama, Y., Wichern, G., Germain, F.G., Ick, C., Le Roux, J., "SuDaField: Subject- and Dataset-Aware Neural Field for HRTF Modeling", IEEE Open Journal of Signal Processing, DOI: 10.1109/​OJSP.2025.3627073, Vol. 6, pp. 1169-1178, December 2025.
    BibTeX External
    • @article{Masuyama2025dec2,
    • author = {Masuyama, Yoshiki and Wichern, Gordon and Germain, François G and Ick, Christopher and {Le Roux}, Jonathan},
    • title = {{SuDaField: Subject- and Dataset-Aware Neural Field for HRTF Modeling}},
    • journal = {IEEE Open Journal of Signal Processing},
    • year = 2025,
    • volume = 6,
    • pages = {1169--1178},
    • month = dec,
    • doi = {10.1109/OJSP.2025.3627073},
    • url = {https://ieeexplore.ieee.org/document/11223161}
    • }
  •  Masuyama, Y., Wichern, G., Germain, F.G., Ick, C., Le Roux, J., "RANF: Neural Field-Based HRTF Spatial Upsampling with Retrieval Augmentation and Parameter Efficient Fine-Tuning", IEEE Open Journal of Signal Processing, DOI: 10.1109/​OJSP.2025.3640517, Vol. 7, pp. 32-41, December 2025.
    BibTeX External
    • @article{Masuyama2025dec,
    • author = {Masuyama, Yoshiki and Wichern, Gordon and Germain, François G and Ick, Christopher and {Le Roux}, Jonathan},
    • title = {{RANF: Neural Field-Based HRTF Spatial Upsampling with Retrieval Augmentation and Parameter Efficient Fine-Tuning}},
    • journal = {IEEE Open Journal of Signal Processing},
    • year = 2025,
    • volume = 7,
    • pages = {32--41},
    • month = dec,
    • doi = {10.1109/OJSP.2025.3640517},
    • url = {https://ieeexplore.ieee.org/abstract/document/11277386}
    • }
  •  Kato, S., Yataka, R., Wang, P., Miraldo, P., Fujihashi, T., Boufounos, P.T., "RAPTR: Radar-based 3D Pose Estimation using Transformer", Advances in Neural Information Processing Systems (NeurIPS), December 2025.
    BibTeX OpenReview
    • @inproceedings{Kato2025dec,
    • author = {Kato, Sorachi and Yataka, Ryoma and Wang, Pu and Miraldo, Pedro and Fujihashi, Takuya and Boufounos, Petros T.},
    • title = {{RAPTR: Radar-based 3D Pose Estimation using Transformer}},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
    • year = 2025,
    • month = dec,
    • url = {https://openreview.net/pdf/db2a73c0a74816ae99bb878a5f35afbc0bdf96f8.pdf}
    • }
  •  Zhang, H., Peng, K.-C., Lohit, S., Yeh, R., "Auto-Vocabulary 3D Object Detection", arXiv, December 2025.
    BibTeX arXiv
    • @article{Zhang2025dec3,
    • author = {Zhang, Haomeng and Peng, Kuan-Chuan and Lohit, Suhas and Yeh, Raymond},
    • title = {{Auto-Vocabulary 3D Object Detection}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2512.16077}
    • }
  •  Castroviejo-Fernandez, M., Leung, J., "Relaxed barrier function based model predictive control with hard input constraints", IEEE Control Systems Letters, DOI: 10.1109/​LCSYS.2025.3645287, Vol. 9, pp. 2927-2932, December 2025.
    BibTeX IEEE Xplore
    • @article{Castroviejo-Fernandez2025dec,
    • author = {Castroviejo-Fernandez, Miguel and Leung, Jordan},
    • title = {{Relaxed barrier function based model predictive control with hard input constraints}},
    • journal = {IEEE Control Systems Letters},
    • year = 2025,
    • volume = 9,
    • pages = {2927--2932},
    • month = dec,
    • doi = {10.1109/LCSYS.2025.3645287},
    • issn = {2475-1456},
    • url = {https://ieeexplore.ieee.org/abstract/document/11303078}
    • }
  •  De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Ghidoni, S., Romeres, D., "Real-time Human Progress Estimation with Online Dynamic Time Warping for Collaborative Robotics", Frontiers, December 2025.
    BibTeX
    • @article{DeLazzari2025dec,
    • author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Ghidoni, Stefano and Romeres, Diego},
    • title = {{Real-time Human Progress Estimation with Online Dynamic Time Warping for Collaborative Robotics}},
    • journal = {Frontiers},
    • year = 2025,
    • month = dec
    • }
  •  Ding, T., Xie, Y., Liang, Y., Chatterjee, M., Miraldo, P., Jiang, H., "LASER: Layer-wise Scale Alignment for Training-Free Streaming 4D Reconstruction", arXiv, December 2025.
    BibTeX arXiv
    • @article{Ding2025dec,
    • author = {Ding, Tianye and Xie, Yiming and Liang, Yiqing and Chatterjee, Moitreya and Miraldo, Pedro and Jiang, Huaizu},
    • title = {{LASER: Layer-wise Scale Alignment for Training-Free Streaming 4D Reconstruction}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2512.13680}
    • }
  •  Van der Merwe, M., Ota, K., Berenson, D., Fazeli, N., Jha, D.K., "Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing", IEEE RA-L, December 2025.
    BibTeX
    • @article{VanderMerwe2025dec2,
    • author = {Van der Merwe, Mark and Ota, Kei and Berenson, Dmitry and Fazeli, Nima and Jha, Devesh K.},
    • title = {{Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing}},
    • journal = {IEEE RA-L},
    • year = 2025,
    • month = dec
    • }
  •  Joshi, A., Mowlavi, S., Benosman, M., "A dual ensemble Kalman filter approach to robust control of nonlinear systems: An application to partial differential equations", IEEE Conference on Decision and Control (CDC), December 2025.
    BibTeX
    • @inproceedings{Joshi2025dec,
    • author = {Joshi, Anant and Mowlavi, Saviz and Benosman, Mouhacine},
    • title = {{A dual ensemble Kalman filter approach to robust control of nonlinear systems: An application to partial differential equations}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2025,
    • month = dec
    • }
  •  Taguchi, M., Koike-Akino, T., Kojima, K., "Polarization-Based Data Reuploading", The IEEE Photonics Conference (IPC), December 2025.
    BibTeX
    • @inproceedings{Taguchi2025dec,
    • author = {Taguchi, Mari and Koike-Akino, Toshiaki and Kojima, Keisuke},
    • title = {{Polarization-Based Data Reuploading}},
    • booktitle = {The IEEE Photonics Conference (IPC)},
    • year = 2025,
    • month = dec
    • }
  •  Uzun, S., Acikmese, B., Di Cairano, S., "Motion Planning for Information Acquisition via Continuous-time Successive Convexification", IEEE Conference on Decision and Control (CDC), December 2025.
    BibTeX External
    • @inproceedings{Uzun2025dec,
    • author = {Uzun, Samet and Acikmese, Behcet and {Di Cairano}, Stefano},
    • title = {{Motion Planning for Information Acquisition via Continuous-time Successive Convexification}},
    • booktitle = {IEEE Control Systems Letters},
    • year = 2025,
    • month = dec,
    • url = {10.1109/LCSYS.2025.3576066}
    • }
  •  Vinod, A.P., Kamath, A., Weiss, A., Di Cairano, S., "Set-based lossless convexification for a class of robust nonlinear optimal control problems", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC57313.2025.11312593, December 2025, pp. 1769-1776.
    BibTeX External
    • @inproceedings{Vinod2025dec,
    • author = {Vinod, Abraham P. and Kamath, Abhinav and Weiss, Avishai and {Di Cairano}, Stefano},
    • title = {{Set-based lossless convexification for a class of robust nonlinear optimal control problems}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2025,
    • pages = {1769--1776},
    • month = dec,
    • doi = {10.1109/CDC57313.2025.11312593},
    • url = {https://ieeexplore.ieee.org/abstract/document/11312593}
    • }
  •  Hutchinson, S., Vinod, A.P., Germain, F.G., Di Cairano, S., Laughman, C.R., Chakrabarty, A., "Quantile-SMPC for Grid-Interactive Buildings with Multivariate Temporal Fusion Transformers", Advances in Neural Information Processing Systems (NeurIPS) Workshop on UrbanAI, December 2025.
    BibTeX External
    • @inproceedings{Hutchinson2025dec,
    • author = {{{Hutchinson, Spencer and Vinod, Abraham P. and Germain, François G and Di Cairano, Stefano and Laughman, Christopher R. and Chakrabarty, Ankush}}},
    • title = {{{Quantile-SMPC for Grid-Interactive Buildings with Multivariate Temporal Fusion Transformers}}},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS) Workshop on UrbanAI},
    • year = 2025,
    • month = dec,
    • url = {https://openreview.net/forum?id=hArraYIuFS}
    • }
  •  Kamath, A.G., Vinod, A.P., Elango, P., Di Cairano, S., Weiss, A., "Set-based Optimal, Robust, and Resilient Control with Applications to Autonomous Precision Landing", arXiv, December 2025.
    BibTeX arXiv
    • @article{Kamath2025dec,
    • author = {Kamath, Abhinav G. and Vinod, Abraham P. and Elango, Purnanand and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Set-based Optimal, Robust, and Resilient Control with Applications to Autonomous Precision Landing}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2512.07043}
    • }
  •  Hori, C., Masuyama, Y., Jain, S., Corcodel, R., Jha, D.K., Romeres, D., Le Roux, J., "Robot Confirmation Generation and Action Planning Using Long-context Q-Former Integrated with Multimodal LLM", IEEE Workshop on Automatic Speech Recognition and Understanding (ASRU), December 2025.
    BibTeX
    • @inproceedings{Hori2025dec,
    • author = {Hori, Chiori and Masuyama, Yoshiki and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and {Le Roux}, Jonathan},
    • title = {{Robot Confirmation Generation and Action Planning Using Long-context Q-Former Integrated with Multimodal LLM}},
    • booktitle = {IEEE Workshop on Automatic Speech Recognition and Understanding (ASRU)},
    • year = 2025,
    • month = dec
    • }
  •  Shirai, Y., Ota, K., Jha, D.K., Romeres, D., "Sim-to-Real Contact-Rich Pivoting via Optimization-Guided RL with Vision and Touch", Embodied World Models for Decision Making, NeurIPS Workshop, December 2025.
    BibTeX External
    • @inproceedings{Shirai2025dec,
    • author = {Shirai, Yuki and Ota, Kei and Jha, Devesh K. and Romeres, Diego},
    • title = {{Sim-to-Real Contact-Rich Pivoting via Optimization-Guided RL with Vision and Touch}},
    • booktitle = {NeurIPS 2025 Workshop on Embodied World Models for Decision Making},
    • year = 2025,
    • month = dec,
    • url = {https://openreview.net/forum?id=tdjHpiQudR}
    • }