Publications

176 / 3,622 publications found.


  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming", Nonlinear Analysis: Hybrid Systems, 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,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2024-008}
    • }
  •  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, 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,
    • 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,
    • 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), 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,
    • 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), May 2024.
    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,
    • month = may,
    • 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), May 2024.
    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,
    • month = may,
    • 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), May 2024.
    BibTeX TR2024-052 PDF
    • @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,
    • month = may,
    • 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.
    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,
    • month = mar,
    • 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
    • @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}
    • }
  •  Giacomuzzo, G., Dalla Libera, A., Romeres, D., Carli, R., "Physics Informed Gaussian Process Regression Methods for Robot Inverse Dynamics Identification", Conferenza Italiana di Robotica e Macchine Intelligenti, October 2023.
    BibTeX TR2023-132 PDF
    • @inproceedings{Giacomuzzo2023oct2,
    • author = {Giacomuzzo, Giulio and Dalla Libera, Alberto and Romeres, Diego and Carli, Ruggero},
    • title = {Physics Informed Gaussian Process Regression Methods for Robot Inverse Dynamics Identification},
    • booktitle = {Conferenza Italiana di Robotica e Macchine Intelligenti},
    • year = 2023,
    • month = oct,
    • url = {https://www.merl.com/publications/TR2023-132}
    • }
  •  Huang, B., Yu, J., Jain, S., "EARL: Eye-on-Hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation", 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS55552.2023.10341988, October 2023, pp. 2963-2970.
    BibTeX TR2023-118 PDF Video
    • @inproceedings{Huang2023oct,
    • author = {Huang, Baichuan and Yu, Jingjin and Jain, Siddarth},
    • title = {EARL: Eye-on-Hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation},
    • booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2023,
    • pages = {2963--2970},
    • month = oct,
    • publisher = {IEEE},
    • doi = {10.1109/IROS55552.2023.10341988},
    • issn = {2153-0866},
    • isbn = {978-1-6654-9190-7},
    • url = {https://www.merl.com/publications/TR2023-118}
    • }
  •  Shaw, S., Jha, D.K., Raghunathan, A., Corcodel, R., Romeres, D., Konidaris, G., Nikovski, D., "Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS55552.2023.10341839, September 2023, pp. 3672-3679.
    BibTeX TR2023-121 PDF Video
    • @inproceedings{Shaw2023sep,
    • author = {Shaw, Seiji and Jha, Devesh K. and Raghunathan, Arvind and Corcodel, Radu and Romeres, Diego and Konidaris, George and Nikovski, Daniel},
    • title = {Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2023,
    • pages = {3672--3679},
    • month = sep,
    • publisher = {IEEE},
    • doi = {10.1109/IROS55552.2023.10341839},
    • issn = {2153-0866},
    • isbn = {978-1-6654-9190-7},
    • url = {https://www.merl.com/publications/TR2023-121}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Contact-Aware Covariance Control of Stochastic Contact-Rich Systems", IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation, September 2023.
    BibTeX TR2023-120 PDF
    • @inproceedings{Shirai2023sep,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {Contact-Aware Covariance Control of Stochastic Contact-Rich Systems},
    • booktitle = {IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation},
    • year = 2023,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2023-120}
    • }
  •  Ota, K., Jha, D.K., Jatavallabhula, K., Kanezaki, A., Tenenbaum, J.B., "Estimation of Extrinsic Contact Patch for Stable Placement", IEEE IROS 2023 Workshop on Visuo-Tactile Perception, Learning, Control for Manipulation and HRI, September 2023.
    BibTeX TR2024-018 PDF
    • @inproceedings{Ota2023sep2,
    • author = {Ota, Kei and Jha, Devesh K. and Jatavallabhula, Krishna and Kanezaki, Asako and Tenenbaum, Joshua B.},
    • title = {Estimation of Extrinsic Contact Patch for Stable Placement},
    • booktitle = {IEEE IROS 2023 Workshop on Visuo-Tactile Perception, Learning, Control for Manipulation and HRI},
    • year = 2023,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2024-018}
    • }
  •  Dalla Libera, A., Turcato, N., Giacomuzzo, G., Carli, R., Romeres, D., "Athletic Intelligence Olympics challenge with Model-Based Reinforcement Learning", International Joint Conference on Artificial Intelligence, August 2023.
    BibTeX TR2023-111 PDF
    • @inproceedings{DallaLibera2023aug,
    • author = {Dalla Libera, Alberto and Turcato, Niccolò and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego},
    • title = {Athletic Intelligence Olympics challenge with Model-Based Reinforcement Learning},
    • booktitle = {International Joint Conference on Artificial Intelligence},
    • year = 2023,
    • month = aug,
    • url = {https://www.merl.com/publications/TR2023-111}
    • }
  •  Duan, X., Wang, Y., Romeres, D., Koike-Akino, T., Orlik, P.V., "Trajectory Generation for Online Payload Estimation of Robot Manipulators: A Supervised Learning Based Approach", IEEE Conference on Automation and Science Engineering, DOI: 10.1109/​CASE56687.2023.10260415, August 2023.
    BibTeX TR2023-106 PDF
    • @inproceedings{Duan2023aug,
    • author = {Duan, Xiaoming and Wang, Yebin and Romeres, Diego and Koike-Akino, Toshiaki and Orlik, Philip V.},
    • title = {Trajectory Generation for Online Payload Estimation of Robot Manipulators: A Supervised Learning Based Approach},
    • booktitle = {IEEE Conference on Automation and Science Engineering},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CASE56687.2023.10260415},
    • isbn = {979-8-3503-2070-1},
    • url = {https://www.merl.com/publications/TR2023-106}
    • }
  •  Hori, C., Peng, P., Harwath, D., Liu, X., Ota, K., Jain, S., Corcodel, R., Jha, D.K., Romeres, D., Le Roux, J., "Style-transfer based Speech and Audio-visual Scene understanding for Robot Action Sequence Acquisition from Videos", Interspeech, DOI: 10.21437/​Interspeech.2023-1983, August 2023, pp. 4663-4667.
    BibTeX TR2023-104 PDF
    • @inproceedings{Hori2023aug,
    • author = {Hori, Chiori and Peng, Puyuang and Harwath, David and Liu, Xinyu and Ota, Kei and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and Le Roux, Jonathan},
    • title = {Style-transfer based Speech and Audio-visual Scene understanding for Robot Action Sequence Acquisition from Videos},
    • booktitle = {Interspeech},
    • year = 2023,
    • pages = {4663--4667},
    • month = aug,
    • doi = {10.21437/Interspeech.2023-1983},
    • url = {https://www.merl.com/publications/TR2023-104}
    • }
  •  Iqbal, H., Di Cairano, S., Berntorp, K., "Motion Planning of Articulated Vehicles with Active Trailer Steering by Particle Filtering", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10253020, August 2023.
    BibTeX TR2023-101 PDF
    • @inproceedings{Iqbal2023aug,
    • author = {Iqbal, Hassan and Di Cairano, Stefano and Berntorp, Karl},
    • title = {Motion Planning of Articulated Vehicles with Active Trailer Steering by Particle Filtering},
    • booktitle = {Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10253020},
    • url = {https://www.merl.com/publications/TR2023-101}
    • }
  •  Dalla Libera, A., Giacomuzzo, G., Carli, R., Nikovski, D., Romeres, D., "Forward Dynamics Estimation from Data-Driven Inverse Dynamics Learning", World Congress of the International Federation of Automatic Control (IFAC), DOI: 10.1016/​j.ifacol.2023.10.1620, July 2023, pp. Pages 519-524.
    BibTeX TR2023-092 PDF
    • @inproceedings{DallaLibera2023jul2,
    • author = {Dalla Libera, Alberto and Giacomuzzo, Giulio and Carli, Ruggero and Nikovski, Daniel and Romeres, Diego},
    • title = {Forward Dynamics Estimation from Data-Driven Inverse Dynamics Learning},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2023,
    • pages = {Pages 519--524},
    • month = jul,
    • doi = {10.1016/j.ifacol.2023.10.1620},
    • url = {https://www.merl.com/publications/TR2023-092}
    • }
  •  Thaker, P., Di Cairano, S., Vinod, A.P., "Bandit-based multi-agent search under noisy observations", World Congress of the International Federation of Automatic Control (IFAC), Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M., Eds., DOI: 10.1016/​j.ifacol.2023.10.1377, July 2023, pp. 2780-2785.
    BibTeX TR2023-085 PDF
    • @inproceedings{Thaker2023jul,
    • author = {Thaker, Parth and Di Cairano, Stefano and Vinod, Abraham P.},
    • title = {Bandit-based multi-agent search under noisy observations},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2023,
    • editor = {Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M.},
    • pages = {2780--2785},
    • month = jul,
    • publisher = {Elseiver},
    • doi = {10.1016/j.ifacol.2023.10.1377},
    • url = {https://www.merl.com/publications/TR2023-085}
    • }
  •  Li, W., Wang, M., Li, J., Su, Y., Jha, D.K., Qian, X., Althoefer, K., Liu, H., "L3 F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing", IEEE Robotics and Automation Letters (RA-L), DOI: 10.1109/​LRA.2023.3292575, Vol. 8, No. 8, pp. 5148-5155, July 2023.
    BibTeX TR2023-081 PDF
    • @article{Li2023jul,
    • author = {Li, Wanlin and Wang, Meng and Li, Jiarui and Su, Yao and Jha, Devesh K. and Qian, Xingyuan and Althoefer, Kaspar and Liu, Hangxin},
    • title = {L3 F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing},
    • journal = {IEEE Robotics and Automation Letters (RA-L)},
    • year = 2023,
    • volume = 8,
    • number = 8,
    • pages = {5148--5155},
    • month = jul,
    • doi = {10.1109/LRA.2023.3292575},
    • url = {https://www.merl.com/publications/TR2023-081}
    • }
  •  Ota, K., Jain, S., Zhang, M., Jha, D.K., "Tactile Pose Feedback for Closed-loop Manipulation Tasks", RSS 23 Workshop on Learning Dexterous Manipulation, July 2023.
    BibTeX TR2023-082 PDF
    • @inproceedings{Ota2023jul,
    • author = {Ota, Kei and Jain, Siddarth and Zhang, Mengchao and Jha, Devesh K.},
    • title = {Tactile Pose Feedback for Closed-loop Manipulation Tasks},
    • booktitle = {RSS 23 Workshop on Learning Dexterous Manipulation},
    • year = 2023,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2023-082}
    • }
  •  Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., "Decision Making for Automated Driving by Reachability of Parameterized Maneuvers", World Congress of the International Federation of Automatic Control (IFAC), Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M., Eds., DOI: 10.1016/​j.ifacol.2023.10.018, July 2023, pp. 7852-7857.
    BibTeX TR2023-084 PDF
    • @inproceedings{DiCairano2023jul,
    • author = {Di Cairano, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl},
    • title = {Decision Making for Automated Driving by Reachability of Parameterized Maneuvers},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2023,
    • editor = {Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M.},
    • pages = {7852--7857},
    • month = jul,
    • publisher = {Elsevier},
    • doi = {10.1016/j.ifacol.2023.10.018},
    • url = {https://www.merl.com/publications/TR2023-084}
    • }