- Shirai, Y., Jha, D.K., Raghunathan, A., "Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization", IEEE Transactions on Robotics, DOI: 10.1109/TRO.2024.3422053, pp. 3425-3444, July 2024.
BibTeX TR2024-096 PDF Video- @article{Shirai2024jul,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
- title = {{Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization}},
- journal = {IEEE Transactions on Robotics},
- year = 2024,
- pages = {3425--3444},
- month = jul,
- doi = {10.1109/TRO.2024.3422053},
- issn = {1941-0468},
- url = {https://www.merl.com/publications/TR2024-096}
- }
- 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}
- }
- Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry", RSS Workshop on Frontiers of Optimization for Robotics (RSS Workshop FOR), July 2024.
BibTeX TR2024-100 PDF- @inproceedings{Zhang2024jul3,
- author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
- title = {{Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry}},
- booktitle = {RSS Workshop on Frontiers of Optimization for Robotics (RSS Workshop FOR)},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-100}
- }
- Kim, T., Vinod, A.P., Di Cairano, S., "Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets", American Control Conference (ACC), DOI: 10.23919/ACC60939.2024.10644642, July 2024, pp. 587-593.
BibTeX TR2024-092 PDF- @inproceedings{Kim2024jul,
- author = {Kim, Taewan and Vinod, Abraham P. and {Di Cairano}, Stefano},
- title = {{Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets}},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- pages = {587--593},
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC60939.2024.10644642},
- url = {https://www.merl.com/publications/TR2024-092}
- }
- Nikovski, D., Zhong, J., Yerazunis, W.S., "Memory-Based Global Iterative Linear Quadratic Control", International Conference on Control, Decision and Information Technologies (CoDIT), DOI: 10.1109/CoDIT62066.2024.10708419, July 2024, pp. 1056-1061.
BibTeX TR2024-089 PDF- @inproceedings{Nikovski2024jul2,
- author = {Nikovski, Daniel and Zhong, Junmin and Yerazunis, William S.},
- title = {{Memory-Based Global Iterative Linear Quadratic Control}},
- booktitle = {International Conference on Control, Decision and Information Technologies (CoDIT)},
- year = 2024,
- pages = {1056--1061},
- month = jul,
- doi = {10.1109/CoDIT62066.2024.10708419},
- url = {https://www.merl.com/publications/TR2024-089}
- }
- Nikovski, D., Yerazunis, W.S., "Adaptive Velocity Estimators for Learning Control", International Conference on Control, Decision and Information Technologies (CoDIT), DOI: 10.1109/CoDIT62066.2024.10708157, July 2024, pp. 1062-1067.
BibTeX TR2024-088 PDF- @inproceedings{Nikovski2024jul,
- author = {Nikovski, Daniel and Yerazunis, William S.},
- title = {{Adaptive Velocity Estimators for Learning Control}},
- booktitle = {International Conference on Control, Decision and Information Technologies (CoDIT)},
- year = 2024,
- pages = {1062--1067},
- month = jul,
- doi = {10.1109/CoDIT62066.2024.10708157},
- url = {https://www.merl.com/publications/TR2024-088}
- }
- 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}
- }
- Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., Okura, Y., "Parametrized Maneuvers Governor for Decision Making in Automated Driving" in Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities., June 2024.
BibTeX TR2024-086 PDF- @incollection{DiCairano2024jun,
- author = {{{Di Cairano, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl and Okura, Yuichi}}},
- title = {{{Parametrized Maneuvers Governor for Decision Making in Automated Driving}}},
- booktitle = {Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities.},
- year = 2024,
- month = jun,
- isbn = {978-3-031-82681-8},
- url = {https://www.merl.com/publications/TR2024-086}
- }
- Greiff, M., Weiss, A., Berntorp, K., Di Cairano, S., "A Robust Invariant Set Planner For Quadrotors", European Control Conference (ECC), DOI: 10.23919/ECC64448.2024.10590943, June 2024.
BibTeX TR2024-081 PDF- @inproceedings{Greiff2024jun,
- author = {Greiff, Marcus and Weiss, Avishai and Berntorp, Karl and {Di Cairano}, Stefano},
- title = {{A Robust Invariant Set Planner For Quadrotors}},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- month = jun,
- publisher = {IEEE},
- doi = {10.23919/ECC64448.2024.10590943},
- url = {https://www.merl.com/publications/TR2024-081}
- }
- Lu, Z., Wang, Y., Sakamoto, Y., Mou, S., "Distributed Co-Design of Motors and Motions for Robotic Manipulators", European Control Conference (ECC), DOI: 10.23919/ECC64448.2024.10590808, June 2024.
BibTeX TR2024-083 PDF- @inproceedings{Lu2024jun,
- author = {Lu, Zehui and Wang, Yebin and Sakamoto, Yusuke and Mou, Shaoshuai},
- title = {{Distributed Co-Design of Motors and Motions for Robotic Manipulators}},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- month = jun,
- doi = {10.23919/ECC64448.2024.10590808},
- url = {https://www.merl.com/publications/TR2024-083}
- }
- Menner, M., Berntorp, K., "Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering", European Control Conference (ECC), DOI: 10.23919/ECC64448.2024.10590751, June 2024, pp. 2768-2773.
BibTeX TR2024-085 PDF- @inproceedings{Menner2024jun,
- author = {Menner, Marcel and Berntorp, Karl},
- title = {{Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering}},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- pages = {2768--2773},
- month = jun,
- doi = {10.23919/ECC64448.2024.10590751},
- url = {https://www.merl.com/publications/TR2024-085}
- }
- Nayak, S., Greiff, M., Raghunathan, A., Di Cairano, S., Vinod, A.P., "Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners", American Control Conference (ACC), DOI: 10.23919/ACC60939.2024.10644645, June 2024, pp. 299-305.
BibTeX TR2024-078 PDF- @inproceedings{Nayak2024jun,
- author = {Nayak, Siddharth and Greiff, Marcus and Raghunathan, Arvind and {Di Cairano}, Stefano and Vinod, Abraham P.},
- title = {{Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners}},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- pages = {299--305},
- month = jun,
- publisher = {IEEE},
- doi = {10.23919/ACC60939.2024.10644645},
- url = {https://www.merl.com/publications/TR2024-078}
- }
- Fujihashi, T., Koike-Akino, T., Corcodel, R., "Graph-Based Analog Joint Source Channel Coding for 3D Haptic Communication", IEEE International Conference on Communications (ICC), DOI: 10.1109/ICC51166.2024.10622893, June 2024.
BibTeX TR2024-070 PDF- @inproceedings{Fujihashi2024jun,
- author = {Fujihashi, Takuya and Koike-Akino, Toshiaki and Corcodel, Radu},
- title = {{Graph-Based Analog Joint Source Channel Coding for 3D Haptic Communication}},
- booktitle = {IEEE International Conference on Communications (ICC)},
- year = 2024,
- month = jun,
- publisher = {IEEE},
- doi = {10.1109/ICC51166.2024.10622893},
- issn = {1938-1883},
- isbn = {978-1-7281-9054-9},
- url = {https://www.merl.com/publications/TR2024-070}
- }
- 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}
- }
- Liang, B., Ota, K., Tomizuka, M., Jha, D.K., "Robust In-Hand Manipulation with Extrinsic Contacts", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA57147.2024.10611664, May 2024, pp. 6544-6550.
BibTeX TR2024-061 PDF Video- @inproceedings{Liang2024may,
- author = {Liang, Boyuan and Ota, Kei and Tomizuka, Masayoshi and Jha, Devesh K.},
- title = {{Robust In-Hand Manipulation with Extrinsic Contacts}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- pages = {6544--6550},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA57147.2024.10611664},
- isbn = {979-8-3503-8457-4},
- url = {https://www.merl.com/publications/TR2024-061}
- }
- Reiter, R., Quirynen, R., Diehl, M., Di Cairano, S., "Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2024.3400571, May 2024.
BibTeX TR2024-056 PDF- @article{Reiter2024may2,
- author = {Reiter, Rudolf and Quirynen, Rien and Diehl, Moritz and {Di Cairano}, Stefano},
- title = {{Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning}},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2024,
- month = may,
- doi = {10.1109/TCST.2024.3400571},
- url = {https://www.merl.com/publications/TR2024-056}
- }
- Schperberg, A., Tanaka, Y., Mowlavi, S., Xu, F., Balaji, B., Hong, D., "OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering", IEEE International Conference on Robotics and Automation (ICRA), May 2024.
BibTeX TR2024-054 PDF- @inproceedings{Schperberg2024may,
- author = {Schperberg, Alexander and Tanaka, Yusuke and Mowlavi, Saviz and Xu, Feng and Balaji, Bharathan and Hong, Dennis},
- title = {{OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- month = may,
- publisher = {IEEE},
- url = {https://www.merl.com/publications/TR2024-054}
- }
- Sinhmar, H., Greiff, M., Di Cairano, S., ,, "Practical and Safe Navigation Function Based Motion Planning of UAVs", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA57147.2024.10611255, May 2024.
BibTeX TR2024-055 PDF- @inproceedings{Sinhmar2024may,
- author = {Sinhmar, Himani and Greiff, Marcus and {Di Cairano}, Stefano and},
- title = {{Practical and Safe Navigation Function Based Motion Planning of UAVs}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA57147.2024.10611255},
- url = {https://www.merl.com/publications/TR2024-055}
- }
- Ota, K., Jha, D.K., Jatavallabhula, K., Kanezaki, A., Tenenbaum, J.B., "Tactile Estimation of Extrinsic Contact Patch for Stable Placement", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA57147.2024.10611504}, May 2024, pp. 13876-13882.
BibTeX TR2024-053 PDF- @inproceedings{Ota2024may2,
- author = {Ota, Kei and Jha, Devesh K. and Jatavallabhula, Krishna and Kanezaki, Asako and Tenenbaum, Joshua B.},
- title = {{Tactile Estimation of Extrinsic Contact Patch for Stable Placement}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- pages = {13876--13882},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA57147.2024.10611504}},
- isbn = {979-8-3503-8457-4},
- url = {https://www.merl.com/publications/TR2024-053}
- }
- Lin, H., Corcodel, R., Zhao, D., "Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA57147.2024.10610567, May 2024, pp. 9227-9233.
BibTeX TR2024-051 PDF- @inproceedings{Lin2024may2,
- author = {Lin, Haohong and Corcodel, Radu and Zhao, Ding},
- title = {{Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- pages = {9227--9233},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA57147.2024.10610567},
- isbn = {979-8-3503-8457-4},
- url = {https://www.merl.com/publications/TR2024-051}
- }
- 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}
- }
- 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, pp. 816-823.
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,
- pages = {816--823},
- month = mar,
- publisher = {IEEE},
- url = {https://www.merl.com/publications/TR2024-033}
- }
- Wang, Y., Hansen, E., Ahn, H., "Hierarchical planning for autonomous parking in dynamic environments", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2024.3367468, March 2024.
BibTeX TR2024-034 PDF- @article{Wang2024mar2,
- author = {Wang, Yebin and Hansen, Emma and Ahn, Heejin},
- title = {{Hierarchical planning for autonomous parking in dynamic environments}},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2024,
- month = mar,
- doi = {10.1109/TCST.2024.3367468},
- issn = {1558-0865},
- url = {https://www.merl.com/publications/TR2024-034}
- }
- Kong, C., Yerazunis, W.S., Nikovski, D., "Stochastic Learning Manipulation of Object Pose With Under-Actuated Impulse Generator Arrays", International Conference on Machine Learning and Applications (ICMLA), DOI: 10.1109/ICMLA58977.2023.00024, December 2023, pp. 112-119.
BibTeX TR2023-151 PDF- @inproceedings{Kong2023dec,
- author = {Kong, Chuizheng and Yerazunis, William S. and Nikovski, Daniel},
- title = {{Stochastic Learning Manipulation of Object Pose With Under-Actuated Impulse Generator Arrays}},
- booktitle = {International Conference on Machine Learning and Applications (ICMLA)},
- year = 2023,
- pages = {112--119},
- month = dec,
- doi = {10.1109/ICMLA58977.2023.00024},
- url = {https://www.merl.com/publications/TR2023-151}
- }
- 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 Video- @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}
- }