Publications

80 / 3,835 publications found.


  •  De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Romeres, D., "Human Monitoring with Correlation-based Dynamic Time Warping for Collaborative Assembly", IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation, May 2025.
    BibTeX TR2025-067 PDF Video
    • @inproceedings{DeLazzari2025may2,
    • author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Romeres, Diego},
    • title = {{Human Monitoring with Correlation-based Dynamic Time Warping for Collaborative Assembly}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-067}
    • }
  •  Giacomuzzo, G., Pegoraro, G., Terreran, M., Ghidoni, S., Carli, R., Romeres, D., "E-UHTP: An Extended Human-Aware Task Planner for Communication-Free Collaborative Assembly", IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation, May 2025.
    BibTeX TR2025-066 PDF
    • @inproceedings{Giacomuzzo2025may,
    • author = {Giacomuzzo, Giulio and Pegoraro, Giulia and Terreran, Matteo and Ghidoni, Stefano and Carli, Ruggero and Romeres, Diego},
    • title = {{E-UHTP: An Extended Human-Aware Task Planner for Communication-Free Collaborative Assembly}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-066}
    • }
  •  Lu, K., Ma, C., Hori, C., Romeres, D., "KitchenVLA: Iterative Vision-Language Corrections for Robotic Execution of Human Tasks", IEEE International Conference on Robotics and Automation Workshop on Safely Leveraging Vision-Language Foundation Models in Robotics (SafeLVMs@ICRA), May 2025.
    BibTeX TR2025-068 PDF
    • @inproceedings{Lu2025may,
    • author = {Lu, Kai and Ma, Chenyang and Hori, Chiori and Romeres, Diego},
    • title = {{KitchenVLA: Iterative Vision-Language Corrections for Robotic Execution of Human Tasks}},
    • booktitle = {IEEE International Conference on Robotics and Automation Workshop on Safely Leveraging Vision-Language Foundation Models in Robotics (SafeLVMs@ICRA)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-068}
    • }
  •  Giacomuzzo, G., Romeres, D., Carli, R., Dalla Libera, A., "Embedding Physical Consistency in Black-Box Inverse Dynamics Learning", IEEE International Conference on Robotics and Automation (ICRA) Workshop on Structured Learning for Efficient, Reliable, and Transparent Robots, May 2025.
    BibTeX
    • @inproceedings{Giacomuzzo2025may2,
    • author = {{{Giacomuzzo, Giulio and Romeres, Diego and Carli, Ruggero and Dalla Libera, Alberto}}},
    • title = {{{Embedding Physical Consistency in Black-Box Inverse Dynamics Learning}}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA) Workshop on Structured Learning for Efficient, Reliable, and Transparent Robots},
    • year = 2025,
    • month = may
    • }
  •  De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Romeres, D., "PACE: Proactive Assistance in Human-Robot Collaboration through Action-Completion Estimation", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
    BibTeX TR2025-064 PDF Video
    • @inproceedings{DeLazzari2025may,
    • author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Romeres, Diego},
    • title = {{PACE: Proactive Assistance in Human-Robot Collaboration through Action-Completion Estimation}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-064}
    • }
  •  Chen, Y., Jha, D.K., Tomizuka, M., Romeres, D., "FDPP: Fine-tune Diffusion Policy with Human Preference", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
    BibTeX TR2025-053 PDF Video
    • @inproceedings{Chen2025may,
    • author = {Chen, Yuxin and Jha, Devesh K. and Tomizuka, Masayoshi and Romeres, Diego},
    • title = {{FDPP: Fine-tune Diffusion Policy with Human Preference}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-053}
    • }
  •  Turcato, N., Cali, M., Dalla Libera, A., Giacomuzzo, G., Carli, R., Romeres, D., "Learning global control of underactuated double pendulum with Model-Based Reinforcement Learning", IEEE International Conference on Robotics and Automation (ICRA) - 3rd AI Olympics with RealAIGym Competition, April 2025.
    BibTeX TR2025-046 PDF
    • @inproceedings{Turcato2025apr,
    • author = {Turcato, Niccolò and Cali, Marco and Dalla Libera, Alberto and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego},
    • title = {{Learning global control of underactuated double pendulum with Model-Based Reinforcement Learning}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - 3rd AI Olympics with RealAIGym Competition},
    • year = 2025,
    • month = apr,
    • url = {https://www.merl.com/publications/TR2025-046}
    • }
  •  Hori, C., Kambara, M., Sugiura, K., Ota, K., Khurana, S., Jain, S., Corcodel, R., Jha, D.K., Romeres, D., Le Roux, J., "Interactive Robot Action Replanning using Multimodal LLM Trained from Human Demonstration Videos", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), DOI: 10.1109/​ICASSP49660.2025.10887717, April 2025.
    BibTeX TR2025-034 PDF
    • @inproceedings{Hori2025mar,
    • author = {Hori, Chiori and Kambara, Motonari and Sugiura, Komei and Ota, Kei and Khurana, Sameer and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and {Le Roux}, Jonathan},
    • title = {{Interactive Robot Action Replanning using Multimodal {LLM} Trained from Human Demonstration Videos}},
    • booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
    • year = 2025,
    • month = mar,
    • doi = {10.1109/ICASSP49660.2025.10887717},
    • url = {https://www.merl.com/publications/TR2025-034}
    • }
  •  Shao, K., Chakrabarty, A., Mesbah, A., Romeres, D., "Coactive Preference-Guided Multi-Objective Bayesian Optimization: An Application to Policy Learning in Personalized Plasma Medicine", IEEE Control Systems Letters, February 2025.
    BibTeX TR2025-021 PDF
    • @article{Shao2025feb,
    • author = {Shao, Ketong and Chakrabarty, Ankush and Mesbah, Ali and Romeres, Diego},
    • title = {{Coactive Preference-Guided Multi-Objective Bayesian Optimization: An Application to Policy Learning in Personalized Plasma Medicine}},
    • journal = {IEEE Control Systems Letters},
    • year = 2025,
    • month = feb,
    • url = {https://www.merl.com/publications/TR2025-021}
    • }
  •  Ip, J.H.S., Chakrabarty, A., Mesbah, A., Romeres, D., "User Preference Meets Pareto-Optimality in Multi-Objective Bayesian Optimization", AAAI Conference on Artificial Intelligence, February 2025.
    BibTeX TR2025-018 PDF
    • @inproceedings{Ip2025feb,
    • author = {{{Ip, Joshua Hang Sai and Chakrabarty, Ankush and Mesbah, Ali and Romeres, Diego}}},
    • title = {{{User Preference Meets Pareto-Optimality in Multi-Objective Bayesian Optimization}}},
    • booktitle = {AAAI Conference on Artificial Intelligence},
    • year = 2025,
    • month = feb,
    • url = {https://www.merl.com/publications/TR2025-018}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming", Nonlinear Analysis: Hybrid Systems, DOI: 10.1016/​j.nahs.2024.101466, Vol. 52, 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,
    • volume = 52,
    • month = dec,
    • doi = {10.1016/j.nahs.2024.101466},
    • issn = {1751-570X},
    • url = {https://www.merl.com/publications/TR2024-008}
    • }
  •  Ip, J.H.S., Chakrabarty, A., Masui Hideyuki, , Mesbah, A., Romeres, D., "Preference-based Multi-Objective Bayesian Optimization with Gradients", NeurIPS Workshop on Bayesian Decision-making and Uncertainty, December 2024.
    BibTeX TR2025-011 PDF
    • @inproceedings{Ip2024dec,
    • author = {Ip, Joshua Hang Sai and Chakrabarty, Ankush and Masui Hideyuki and Mesbah, Ali and Romeres, Diego},
    • title = {{Preference-based Multi-Objective Bayesian Optimization with Gradients}},
    • booktitle = {NeurIPS Workshop on Bayesian Decision-making and Uncertainty},
    • year = 2024,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-011}
    • }
  •  Cherian, A., Corcodel, R., Jain, S., Romeres, D., "LLMPhy: Complex Physical Reasoning Using Large Language Models and World Models", arXiv, November 2024.
    BibTeX arXiv
    • @article{Cherian2024oct,
    • author = {Cherian, Anoop and Corcodel, Radu and Jain, Siddarth and Romeres, Diego},
    • title = {{LLMPhy: Complex Physical Reasoning Using Large Language Models and World Models}},
    • journal = {arXiv},
    • year = 2024,
    • month = nov,
    • url = {https://arxiv.org/abs/2411.08027}
    • }
  •  Suresh, P., Romeres, D., Dosh, P., Jain, S., "Open Human-Robot Collaboration Systems (OHRCS): A Research Perspective", IEEE International Conference on Cognitive Machine Intelligence (CogML 2024), DOI: 10.1109/​CogMI62246.2024.00023, October 2024, pp. 103-110.
    BibTeX TR2024-150 PDF
    • @inproceedings{Suresh2024nov,
    • author = {Suresh, Prasanth and Romeres, Diego and Dosh, Prashant and Jain, Siddarth},
    • title = {{Open Human-Robot Collaboration Systems (OHRCS): A Research Perspective}},
    • booktitle = {2024 IEEE 6th International Conference on Cognitive Machine Intelligence (CogMI)},
    • year = 2024,
    • pages = {103--110},
    • month = oct,
    • publisher = {IEEE Computer Society},
    • doi = {10.1109/CogMI62246.2024.00023},
    • url = {https://www.merl.com/publications/TR2024-150}
    • }
  •  Vats, S., Jha, D.K., Likhachev, M., Kroemer, O., Romeres, D., "RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation", arXiv, October 2024.
    BibTeX arXiv
    • @article{Vats2024oct,
    • author = {Vats, Shivam and Jha, Devesh K. and Likhachev, Maxim and Kroemer, Oliver and Romeres, Diego},
    • title = {{RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation}},
    • journal = {arXiv},
    • year = 2024,
    • month = oct,
    • url = {https://arxiv.org/abs/2410.13979}
    • }
  •  Suresh, P., Jain, S., Doshi, P., Romeres, D., "Open Human-Robot Collaboration using Decentralized Inverse Reinforcement Learning", 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), DOI: 10.1109/​IROS58592.2024.10801889, October 2024, pp. 7092-7098.
    BibTeX TR2024-135 PDF
    • @inproceedings{Suresh2024oct,
    • author = {Suresh, Prasanth and Jain, Siddarth and Doshi, Prashant and Romeres, Diego},
    • title = {{Open Human-Robot Collaboration using Decentralized Inverse Reinforcement Learning}},
    • booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
    • year = 2024,
    • pages = {7092--7098},
    • month = oct,
    • publisher = {IEEE},
    • doi = {10.1109/IROS58592.2024.10801889},
    • issn = {2153-0866},
    • isbn = {979-8-3503-7770-5},
    • url = {https://www.merl.com/publications/TR2024-135}
    • }
  •  Dalla Libera, A., Turcato, N., Giacomuzzo, G., Carli, R., Romeres, D., "Learning control of underactuated double pendulum with Model-Based Reinforcement Learning", Competition: AI Olympics With RealAIGym, October 2024.
    BibTeX TR2024-142 PDF
    • @inproceedings{DallaLibera2024oct,
    • author = {Dalla Libera, Alberto and Turcato, Niccolò and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego},
    • title = {{Learning control of underactuated double pendulum with Model-Based Reinforcement Learning}},
    • booktitle = {Competition: AI Olympics With RealAIGym},
    • year = 2024,
    • month = oct,
    • url = {https://www.merl.com/publications/TR2024-142}
    • }
  •  Giacomuzzo, G., Terreran, M., Jain, S., Romeres, D., "DECAF: a Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS58592.2024.10802728, October 2024.
    BibTeX TR2024-138 PDF
    • @inproceedings{Giacomuzzo2024oct,
    • author = {Giacomuzzo, Giulio and Terreran, Matteo and Jain, Siddarth and Romeres, Diego},
    • title = {{DECAF: a Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly}},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2024,
    • month = oct,
    • publisher = {IEEE},
    • doi = {10.1109/IROS58592.2024.10802728},
    • issn = {2153-0866},
    • isbn = {979-8-3503-7770-5},
    • url = {https://www.merl.com/publications/TR2024-138}
    • }
  •  Ota, K., Jha, D.K., Jain, S., Yerazunis, W.S., Corcodel, R., Shukla, Y., Bronars, A., Romeres, D., "Autonomous Robotic Assembly: From Part Singulation to Precise Assembly", IEEE/RSJ International Conference on Intelligent Robots and Systems., DOI: 10.1109/​IROS58592.2024.10802423, October 2024, pp. 13525-13532.
    BibTeX TR2024-133 PDF
    • @inproceedings{Ota2024oct,
    • author = {Ota, Kei and Jha, Devesh K. and Jain, Siddarth and Yerazunis, William S. and Corcodel, Radu and Shukla, Yash and Bronars, Antonia and Romeres, Diego},
    • title = {{Autonomous Robotic Assembly: From Part Singulation to Precise Assembly}},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems.},
    • year = 2024,
    • pages = {13525--13532},
    • month = oct,
    • publisher = {IEEE},
    • doi = {10.1109/IROS58592.2024.10802423},
    • issn = {2153-0866},
    • url = {https://www.merl.com/publications/TR2024-133}
    • }
  •  Giacomuzzo, G., Dalla Libera, A., Romeres, D., Carli, R., "A Black-Box Physics-Informed Estimator based on Gaussian Process Regression for Robot Inverse Dynamics Identification", IEEE Transaction on Robotics, DOI: 10.1109/​TRO.2024.3474851, pp. 4820-4836, August 2024.
    BibTeX TR2024-077 PDF Data Software
    • @article{Giacomuzzo2024aug2,
    • author = {Giacomuzzo, Giulio and Dalla Libera, Alberto and Romeres, Diego and Carli, Ruggero},
    • title = {{A Black-Box Physics-Informed Estimator based on Gaussian Process Regression for Robot Inverse Dynamics Identification}},
    • journal = {IEEE Transaction on Robotics},
    • year = 2024,
    • pages = {4820--4836},
    • month = aug,
    • doi = {10.1109/TRO.2024.3474851},
    • issn = {1941-0468},
    • url = {https://www.merl.com/publications/TR2024-077}
    • }
  •  Wiebe, F., Turcato, N., Dalla Libera, A., Zhang, C., Vincent, T., Vyas, S., Giacomuzzo, G., Carli, R., Romeres, D., Sathuluri, A., Zimmermann, M., Belousov, B., Peters, J., Kirchner, F., Kumar, S., "Reinforcement Learning for Athletic Intelligence: Lessons from the 1st “AI Olympics with RealAIGym” Competition", Internation Joint Conference on Artificial Intelligence (IJCAI), DOI: 10.24963/​ijcai.2024/​1043, August 2024, pp. 8833-8837.
    BibTeX TR2024-108 PDF
    • @inproceedings{Wiebe2024aug,
    • author = {Wiebe, Felix and Turcato, Niccolò and Dalla Libera, Alberto and Zhang, Chi and Vincent, Theo and Vyas, Shubham and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego and Sathuluri, Akhil and Zimmermann, Markus and Belousov, Boris and Peters, Jan and Kirchner, Frank and Kumar, Shivesh},
    • title = {{Reinforcement Learning for Athletic Intelligence: Lessons from the 1st “AI Olympics with RealAIGym” Competition}},
    • booktitle = {Internation Joint Conference on Artificial Intelligence (IJCAI)},
    • year = 2024,
    • pages = {8833--8837},
    • month = aug,
    • doi = {10.24963/ijcai.2024/1043},
    • url = {https://www.merl.com/publications/TR2024-108}
    • }
  •  Giacomuzzo, G., Cescon, R., Romeres, D., Carli, R., Dalla Libera, A., "Lagrangian Inspired Polynomial Estimator for black-box learning and control of underactuated systems", Learning for Dynamics & Control Conference (L4DC), Abate, Alessandro and Cannon, Mark and Margellos, Kostas and Papachristodoulou, Antonis, Eds., July 2024, pp. 1292-1304.
    BibTeX TR2024-097 PDF
    • @inproceedings{Giacomuzzo2024jul,
    • author = {Giacomuzzo, Giulio and Cescon, Riccardo and Romeres, Diego and Carli, Ruggero and Dalla Libera, Alberto},
    • title = {{Lagrangian Inspired Polynomial Estimator for black-box learning and control of underactuated systems}},
    • booktitle = {Learning for Dynamics \& Control Conference (L4DC)},
    • year = 2024,
    • editor = {Abate, Alessandro and Cannon, Mark and Margellos, Kostas and Papachristodoulou, Antonis},
    • pages = {1292--1304},
    • month = jul,
    • publisher = {PMLR},
    • url = {https://www.merl.com/publications/TR2024-097}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance", IEEE Transactions on Automation Science and Engineering, DOI: 10.1109/​TASE.2024.3365637, pp. 1-16, June 2024.
    BibTeX TR2024-087 PDF
    • @article{Raghunathan2024jun,
    • author = {{{Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego}}},
    • title = {{{PYROBOCOP: Python-based Robotic Control \& Optimization Package for Manipulation and Collision Avoidance}}},
    • journal = {IEEE Transactions on Automation Science and Engineering},
    • year = 2024,
    • pages = {1--16},
    • month = jun,
    • doi = {10.1109/TASE.2024.3365637},
    • issn = {1545-5955},
    • url = {https://www.merl.com/publications/TR2024-087}
    • }
  •  Kambara, M., Hori, C., Sugiura, K., Ota, K., Jha, D.K., Khurana, S., Jain, S., Corcodel, R., Romeres, D., Le Roux, J., "Human Action Understanding-based Robot Planning using Multimodal LLM", IEEE International Conference on Robotics and Automation (ICRA), June 2024.
    BibTeX TR2024-066 PDF
    • @inproceedings{Kambara2024jun,
    • author = {Kambara, Motonari and Hori, Chiori and Sugiura, Komei and Ota, Kei and Jha, Devesh K. and Khurana, Sameer and Jain, Siddarth and Corcodel, Radu and Romeres, Diego and {Le Roux}, Jonathan},
    • title = {{Human Action Understanding-based Robot Planning using Multimodal LLM}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA) Workshop},
    • year = 2024,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2024-066}
    • }
  •  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 Robotic Tasks", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA57147.2024.10610981, May 2024, pp. 14054-14061.
    BibTeX TR2024-052 PDF Video
    • @inproceedings{Sun2024may,
    • 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 Robotic Tasks}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • pages = {14054--14061},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA57147.2024.10610981},
    • isbn = {979-8-3503-8457-4},
    • url = {https://www.merl.com/publications/TR2024-052}
    • }