Publications

3,956 major publications by members of the MERL staff.


  •  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 TR2026-011 PDF Video
    • @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,
    • url = {https://www.merl.com/publications/TR2026-011}
    • }
  •  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, January 2026.
    BibTeX TR2026-010 PDF Software
    • @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,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-010}
    • }
  •  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, December 2025.
    BibTeX TR2026-008 PDF
    • @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,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2026-008}
    • }
  •  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, December 2025.
    BibTeX TR2026-007 PDF Software
    • @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,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2026-007}
    • }
  •  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, December 2025.
    BibTeX TR2026-009 PDF
    • @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,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2026-009}
    • }
  •  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 TR2026-006 PDF Software
    • @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://www.merl.com/publications/TR2026-006}
    • }
  •  Castroviejo-Fernandez, M., Leung, J., "Relaxed barrier function based model predictive control with hard input constraints", IEEE Control Systems Letters, December 2025.
    BibTeX TR2026-005 PDF
    • @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,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2026-005}
    • }
  •  Yataka, R., Wang, P., Boufounos, P.T., Takahashi, R., "REXO: Indoor Multi-View Radar Object Detection via 3D Bounding Box Diffusion", arXiv, December 2025.
    BibTeX arXiv
    • @article{Yataka2025dec,
    • author = {Yataka, Ryoma and Wang, Pu and Boufounos, Petros T. and Takahashi, Ryuhei},
    • title = {{REXO: Indoor Multi-View Radar Object Detection via 3D Bounding Box Diffusion}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2511.17806}
    • }
  •  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}
    • }
  •  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 TR2025-173 PDF
    • @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,
    • url = {https://www.merl.com/publications/TR2025-173}
    • }
  •  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 TR2026-002 PDF
    • @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,
    • url = {https://www.merl.com/publications/TR2026-002}
    • }
  •  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}
    • }
  •  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 TR2025-172 PDF
    • @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,
    • url = {https://www.merl.com/publications/TR2025-172}
    • }
  •  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 TR2025-170 PDF
    • @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 Conference on Decision and Control (CDC)},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-170}
    • }
  •  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), December 2025.
    BibTeX TR2025-160 PDF
    • @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,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-160}
    • }
  •  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 TR2026-001 PDF
    • @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://www.merl.com/publications/TR2026-001}
    • }
  •  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}
    • }
  •  Zhang, Y., Corcodel, R., Hori, C., Cherian, A., Zhao, D., "AxisBench: What Can Go Wrong in VLMs’ Spatial Reasoning?", Advances in Neural Information Processing Systems (NeurIPS) workshop, December 2025.
    BibTeX TR2025-168 PDF
    • @inproceedings{Zhang2025dec2,
    • author = {{{Zhang, Yuyou and Corcodel, Radu and Hori, Chiori and Cherian, Anoop and Zhao, Ding}}},
    • title = {{{AxisBench: What Can Go Wrong in VLMs’ Spatial Reasoning?}}},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS) workshop},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-168}
    • }
  •  Xie, X., Mowlavi, S., Benosman, M., "Smooth and Sparse Latent Dynamics in Operator Learning with Jerk Regularization", Advances in Neural Information Processing Systems (NeurIPS) workshop on Machine Learning and the Physical Sciences (ML4PS), December 2025.
    BibTeX TR2025-166 PDF
    • @inproceedings{Xie2025dec,
    • author = {{{Xie, Xiaoyu and Mowlavi, Saviz and Benosman, Mouhacine}}},
    • title = {{{Smooth and Sparse Latent Dynamics in Operator Learning with Jerk Regularization}}},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS) workshop on Machine Learning and the Physical Sciences (ML4PS)},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-166}
    • }
  •  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 TR2025-169 PDF Video
    • @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://www.merl.com/publications/TR2025-169}
    • }
  •  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 TR2025-167 PDF
    • @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,
    • url = {https://www.merl.com/publications/TR2025-167}
    • }
  •  Lualdi, C., Rapp, J., Johnson, S., Vayinger, M., Kwiat, P., "Entanglement-Enhanced Quantum Nano-Vibrometry", arXiv, December 2025.
    BibTeX arXiv
    • @article{Lualdi2025dec,
    • author = {Lualdi, Colin and Rapp, Joshua and Johnson, Spencer and Vayinger, Michael and Kwiat, Paul},
    • title = {{Entanglement-Enhanced Quantum Nano-Vibrometry}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2512.05961}
    • }
  •  Kogashi, K., Cherian, A., Kuo, M.-Y.J., "MMHOI: Modeling Complex 3D Multi-Human Multi-Object Interactions", arXiv, December 2025.
    BibTeX arXiv
    • @article{Kogashi2025dec,
    • author = {Kogashi, Kaen and Cherian, Anoop and Kuo, Meng-Yu Jennifer},
    • title = {{MMHOI: Modeling Complex 3D Multi-Human Multi-Object Interactions}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2510.07828}
    • }
  •  Das, G., Wang, B., Lin, C., "Electric Motor Topology Optimization via Rotated Filter Projection and Adjoint Sensitivities", IEEE Transactions on Magnetics, December 2025.
    BibTeX TR2025-164 PDF
    • @article{Das2025dec,
    • author = {Das, Ghanendra and Wang, Bingnan and Lin, Chungwei},
    • title = {{Electric Motor Topology Optimization via Rotated Filter Projection and Adjoint Sensitivities}},
    • journal = {IEEE Transactions on Magnetics},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-164}
    • }
  •  Zhang, R., Raghunathan, A., Shamma, J., Li, N., "Constrained Optimization From a Control Perspective via Feedback Linearization", The Thirty-Ninth Annual Conference on Neural Information Processing Systems (NuerIPS), December 2025.
    BibTeX TR2025-165 PDF
    • @inproceedings{Zhang2025dec,
    • author = {Zhang, Runyu and Raghunathan, Arvind and Shamma, Jeff and Li, Na},
    • title = {{Constrained Optimization From a Control Perspective via Feedback Linearization}},
    • booktitle = {The Thirty-Ninth Annual Conference on Neural Information Processing Systems (NuerIPS)},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-165}
    • }