Publications

127 / 3,375 publications found.


  •  Amadio, F., Dalla Libera, A., Antonello, R., Nikovski, D.N., Carli, R., Romeres, D., "1 Model-Based Policy Search Using Monte Carlo Gradient Estimation with Real Systems Application", IEEE Transaction on Robotics, December 2022.
    BibTeX TR2022-154 PDF
    • @article{Romeres2022dec,
    • author = {Amadio, Fabio and Dalla Libera, Alberto and Antonello, Riccardo and Nikovski, Daniel N. and Carli, Ruggero and Romeres, Diego},
    • title = {1 Model-Based Policy Search Using Monte Carlo Gradient Estimation with Real Systems Application},
    • journal = {IEEE Transaction on Robotics},
    • year = 2022,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2022-154}
    • }
  •  Schneider, T., Belousov, B., Chalvatzaki, G., Romeres, D., Jha, D.K., Peters, J., "Active Exploration for Robotic Manipulation", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2022.
    BibTeX TR2022-139 PDF
    • @inproceedings{Schneider2022oct,
    • author = {Schneider, Tim and Belousov, Boris and Chalvatzaki, Georgia and Romeres, Diego and Jha, Devesh K. and Peters, Jan},
    • title = {Active Exploration for Robotic Manipulation},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2022,
    • month = oct,
    • url = {https://www.merl.com/publications/TR2022-139}
    • }
  •  Wang, Z., Ahmad, A., Quirynen, R., Wang, Y., Bhagat, A., Zeino, E., Zushi, Y., Di Cairano, S., "Motion Planning and Model Predictive Control for Automated Tractor-Trailer Hitching Maneuver", IEEE Conference on Control Technology and Applications (CCTA), August 2022.
    BibTeX TR2022-109 PDF
    • @inproceedings{Wang2022aug,
    • author = {Wang, Zejiang and Ahmad, Ahmad and Quirynen, Rien and Wang, Yebin and Bhagat, Akshay and Zeino, Eyad and Zushi, Yuji and Di Cairano, Stefano},
    • title = {Motion Planning and Model Predictive Control for Automated Tractor-Trailer Hitching Maneuver},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2022,
    • month = aug,
    • url = {https://www.merl.com/publications/TR2022-109}
    • }
  •  Jha, D.K., Romeres, D., Yerazunis, W.S., Nikovski, D.N., "Imitation and Supervised Learning of Compliance for Robotic Assembly", European Control Conference (ECC), DOI: 10.23919/​ECC55457.2022.9838102, July 2022, pp. 1882-1889.
    BibTeX TR2022-099 PDF Video
    • @inproceedings{Jha2022jul,
    • author = {Jha, Devesh K. and Romeres, Diego and Yerazunis, William S. and Nikovski, Daniel N.},
    • title = {Imitation and Supervised Learning of Compliance for Robotic Assembly},
    • booktitle = {European Control Conference (ECC)},
    • year = 2022,
    • pages = {1882--1889},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ECC55457.2022.9838102},
    • isbn = {978-3-9071-4407-7},
    • url = {https://www.merl.com/publications/TR2022-099}
    • }
  •  Demir, A., Koike-Akino, T., Wang, Y., Erdogmus, D., "EEG-GAT: Graph Attention Networks for Classification of Electroencephalogram (EEG) Signals", International Conference of the IEEE Engineering in Medicine & Biology Society (EMBS), DOI: 10.1109/​EMBC48229.2022.9871984, July 2022.
    BibTeX TR2022-097 PDF
    • @inproceedings{Demir2022jul,
    • author = {Demir, Andac and Koike-Akino, Toshiaki and Wang, Ye and Erdogmus, Deniz},
    • title = {EEG-GAT: Graph Attention Networks for Classification of Electroencephalogram (EEG) Signals},
    • booktitle = {International Conference of the IEEE Engineering in Medicine & Biology Society (EMBS)},
    • year = 2022,
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.1109/EMBC48229.2022.9871984},
    • issn = {2694-0604},
    • isbn = {978-1-7281-2782-8},
    • url = {https://www.merl.com/publications/TR2022-097}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "Python-based Open Source Package for Optimization of Contact-rich Systems", Robotics: Science and Systems, June 2022.
    BibTeX TR2022-089 PDF
    • @inproceedings{Raghunathan2022jun,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {Python-based Open Source Package for Optimization of Contact-rich Systems},
    • booktitle = {Robotics: Science and Systems},
    • year = 2022,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2022-089}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization", RSS Workshop on The Science of Bumping into Things, June 2022.
    BibTeX TR2022-090 PDF
    • @inproceedings{Shirai2022jun,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization},
    • booktitle = {RSS Workshop on The Science of Bumping into Things},
    • year = 2022,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2022-090}
    • }
  •  Schperberg, A., Di Cairano, S., Menner, M., "Auto-Tuning of Controller and Online Trajectory Planner for Legged Robots", IEEE Robotics and Automation Letters, DOI: 10.1109/​LRA.2022.3185387, Vol. 7, No. 3, pp. 7802-7809, June 2022.
    BibTeX TR2022-085 PDF
    • @article{Schperberg2022jun,
    • author = {Schperberg, Alexander and Di Cairano, Stefano and Menner, Marcel},
    • title = {Auto-Tuning of Controller and Online Trajectory Planner for Legged Robots},
    • journal = {IEEE Robotics and Automation Letters},
    • year = 2022,
    • volume = 7,
    • number = 3,
    • pages = {7802--7809},
    • month = jun,
    • doi = {10.1109/LRA.2022.3185387},
    • url = {https://www.merl.com/publications/TR2022-085}
    • }
  •  Zhu, X., Jain, S., Tomizuka, M., van Baar, J., "Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints", IEEE ICRA 2022 Workshop on Reinforcement Learning for Contact-Rich Manipulation, May 2022.
    BibTeX TR2022-058 PDF
    • @inproceedings{Zhu2022may3,
    • author = {Zhu, Xinghao and Jain, Siddarth and Tomizuka, Masayoshi and van Baar, Jeroen},
    • title = {Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints},
    • booktitle = {IEEE ICRA 2022 Workshop on Reinforcement Learning for Contact-Rich Manipulation},
    • year = 2022,
    • month = may,
    • url = {https://www.merl.com/publications/TR2022-058}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA46639.2022.9812069, May 2022.
    BibTeX TR2022-057 PDF Video Software
    • @inproceedings{Raghunathan2022may,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA46639.2022.9812069},
    • isbn = {978-1-7281-9681-7},
    • url = {https://www.merl.com/publications/TR2022-057}
    • }
  •  Leu, J., Wang, Y., Tomizuka, M., Di Cairano, S., ,, "Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA46639.2022.9812309, May 2022, pp. 10890-10897.
    BibTeX TR2022-056 PDF
    • @inproceedings{Leu2022may,
    • author = {Leu, Jessica and Wang, Yebin and Tomizuka, Masayoshi and Di Cairano, Stefano and },
    • title = {Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • pages = {10890--10897},
    • month = may,
    • doi = {10.1109/ICRA46639.2022.9812309},
    • url = {https://www.merl.com/publications/TR2022-056}
    • }
  •  Zhu, X., Jain, S., Tomizuka, M., van Baar, J., "Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA46639.2022.9812092, May 2022, pp. 4833-4839.
    BibTeX TR2022-055 PDF
    • @inproceedings{Zhu2022may2,
    • author = {Zhu, Xinghao and Jain, Siddarth and Tomizuka, Masayoshi and van Baar, Jeroen},
    • title = {Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints},
    • booktitle = {2022 IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • pages = {4833--4839},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA46639.2022.9812092},
    • isbn = {978-1-7281-9681-7},
    • url = {https://www.merl.com/publications/TR2022-055}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA46639.2022.9811812, May 2022, pp. 992-998.
    BibTeX TR2022-045 PDF
    • @inproceedings{Shirai2022may,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • pages = {992--998},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA46639.2022.9811812},
    • url = {https://www.merl.com/publications/TR2022-045}
    • }
  •  Rosen, E., Rammohan, S., Jha, D.K., "Learning robot motor skills with mixed reality", International Workshop on Virtual, Augmented, and Mixed-Reality for Human-Robot Interactions (VAM-HRI), March 2022.
    BibTeX TR2022-032 PDF
    • @inproceedings{Rosen2022mar,
    • author = {Rosen, Eric and Rammohan, Sreehari and Jha, Devesh K.},
    • title = {Learning robot motor skills with mixed reality},
    • booktitle = {International Workshop on Virtual, Augmented, and Mixed-Reality for Human-Robot Interactions (VAM-HRI)},
    • year = 2022,
    • month = mar,
    • url = {https://www.merl.com/publications/TR2022-032}
    • }
  •  Das, P., Ortega, A., Chen, S., Mansour, H., Vetro, A., "Application-agnostic spatio-temporal hand graph representations for stable activity understanding", IEEE International Conference on Image Processing (ICIP), DOI: 10.1109/​ICIP42928.2021.9506054, September 2021, pp. 1074-1078.
    BibTeX TR2021-112 PDF
    • @inproceedings{Das2021sep,
    • author = {Das, Pratyusha and Ortega, Antonio and Chen, Siheng and Mansour, Hassan and Vetro, Anthony},
    • title = {Application-agnostic spatio-temporal hand graph representations for stable activity understanding},
    • booktitle = {IEEE International Conference on Image Processing (ICIP)},
    • year = 2021,
    • pages = {1074--1078},
    • month = sep,
    • publisher = {IEEE},
    • doi = {10.1109/ICIP42928.2021.9506054},
    • url = {https://www.merl.com/publications/TR2021-112}
    • }
  •  Amadio, F., Dalla Libera, A., Carli, R., Romeres, D., "Model-Based Reinforcement Learning Using Monte Carlo Gradient Estimation", Automatica.it, September 2021.
    BibTeX TR2021-108 PDF
    • @inproceedings{Amadio2021sep,
    • author = {Amadio, Fabio and Dalla Libera, Alberto and Carli, Ruggero and Romeres, Diego},
    • title = {Model-Based Reinforcement Learning Using Monte Carlo Gradient Estimation},
    • booktitle = {Automatica.it},
    • year = 2021,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2021-108}
    • }
  •  Jain, S., Corcodel, R., van Baar, J., "Visual 3D Perception for Interactive Robotic Tactile Data Acquisition", IEEE International Conference on Automation Science and Engineering (CASE 2021), August 2021.
    BibTeX TR2021-092 PDF
    • @inproceedings{Jain2021aug,
    • author = {Jain, Siddarth and Corcodel, Radu and van Baar, Jeroen},
    • title = {Visual 3D Perception for Interactive Robotic Tactile Data Acquisition},
    • booktitle = {2021 IEEE International Conference on Automation Science and Engineering (CASE)},
    • year = 2021,
    • month = aug,
    • url = {https://www.merl.com/publications/TR2021-092}
    • }
  •  Solomon, E., Yerazunis, W.S., "Robotic Applications of Mechanical Metamaterials Produced Using SLA 3D Printing: Cthulhu-Morphic Grippers", Solid Freeform Fabrication Symposium, DOI: 10.26153/​tsw/​17539, August 2021.
    BibTeX TR2021-088 PDF
    • @inproceedings{Solomon2021aug,
    • author = {Solomon, E. and Yerazunis, William S.},
    • title = {Robotic Applications of Mechanical Metamaterials Produced Using SLA 3D Printing: Cthulhu-Morphic Grippers},
    • booktitle = {Solid Freeform Fabrication Symposium},
    • year = 2021,
    • month = aug,
    • doi = {10.26153/tsw/17539},
    • url = {https://www.merl.com/publications/TR2021-088}
    • }
  •  Dalla Libera, A., Amadio, F., Nikovski, D.N., Carli, R., Romeres, D., "Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models", European Control Conference (ECC), DOI: 10.23919/​ECC54610.2021.9654429, June 2021.
    BibTeX TR2021-068 PDF
    • @inproceedings{DallaLibera2021jun,
    • author = {Dalla Libera, Alberto and Amadio, Fabio and Nikovski, Daniel N. and Carli, Ruggero and Romeres, Diego},
    • title = {Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models},
    • booktitle = {European Control Conference (ECC)},
    • year = 2021,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ECC54610.2021.9654429},
    • isbn = {978-9-4638-4236-5},
    • url = {https://www.merl.com/publications/TR2021-068}
    • }
  •  Jin, S., Romeres, D., Raghunathan, A., Jha, D.K., Tomizuka, M., "Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48506.2021.9561556, June 2021.
    BibTeX TR2021-072 PDF
    • @inproceedings{Jin2021jun,
    • author = {Jin, Shiyu and Romeres, Diego and Raghunathan, Arvind and Jha, Devesh K. and Tomizuka, Masayoshi},
    • title = {Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2021,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48506.2021.9561556},
    • issn = {2577-087X},
    • isbn = {978-1-7281-9077-8},
    • url = {https://www.merl.com/publications/TR2021-072}
    • }
  •  Dai, S., Wang, Y., "Long-Horizon Motion Planning for Autonomous Vehicle Parking Incorporating Incomplete Map Information", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48506.2021.9562101, May 2021, pp. 8135-8142.
    BibTeX TR2021-062 PDF
    • @inproceedings{Dai2021may,
    • author = {Dai, Siyu and Wang, Yebin},
    • title = {Long-Horizon Motion Planning for Autonomous Vehicle Parking Incorporating Incomplete Map Information},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2021,
    • pages = {8135--8142},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48506.2021.9562101},
    • url = {https://www.merl.com/publications/TR2021-062}
    • }
  •  Haruna, M., Kawaguchi, N., Ogino, M., Koike-Akino, T., "Comparison of Three Feedback Modalities for Haptics Sensation in Remote Machine Manipulation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​LRA.2021.3070301, May 2021.
    BibTeX TR2021-063 PDF Video
    • @inproceedings{Haruna2021may,
    • author = {Haruna, Masaki and Kawaguchi, Noboru and Ogino, Masaki and Koike-Akino, Toshiaki},
    • title = {Comparison of Three Feedback Modalities for Haptics Sensation in Remote Machine Manipulation},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2021,
    • month = may,
    • doi = {10.1109/LRA.2021.3070301},
    • issn = {2377-3766},
    • url = {https://www.merl.com/publications/TR2021-063}
    • }
  •  Dong, S., Jha, D.K., Romeres, D., Kim, S., Nikovski, D.N., Rodriguez, A., "Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48506.2021.9561646, May 2021.
    BibTeX TR2021-052 PDF
    • @inproceedings{Dong2021may,
    • author = {Dong, Siyuan and Jha, Devesh K. and Romeres, Diego and Kim, Sangwoon and Nikovski, Daniel N. and Rodriguez, Alberto},
    • title = {Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2021,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48506.2021.9561646},
    • issn = {2577-087X},
    • isbn = {978-1-7281-9077-8},
    • url = {https://www.merl.com/publications/TR2021-052}
    • }
  •  Bonzanini, A.D., Mesbah, A., Di Cairano, S., "Perception-Aware Chance-Constrained Model Predictive Control for Uncertain Environments", American Control Conference (ACC), DOI: 10.23919/​ACC50511.2021.9483203, May 2021.
    BibTeX TR2021-055 PDF
    • @inproceedings{Bonzanini2021may,
    • author = {Bonzanini, Angelo Domenico and Mesbah, Ali and Di Cairano, Stefano},
    • title = {Perception-Aware Chance-Constrained Model Predictive Control for Uncertain Environments},
    • booktitle = {American Control Conference (ACC)},
    • year = 2021,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.23919/ACC50511.2021.9483203},
    • url = {https://www.merl.com/publications/TR2021-055}
    • }
  •  Han, M., Ozdenizci, O., Koike-Akino, T., Wang, Y., Erdogmus, D., "Universal Physiological Representation Learning with Soft-Disentangled Rateless Autoencoders", IEEE Journal of Biomedical and Health Informatics, DOI: 10.1109/​JBHI.2021.3062335, Vol. 25, No. 8, pp. 2928-2937, April 2021.
    BibTeX TR2021-027 PDF
    • @article{Han2021apr,
    • author = {Han, Mo and Ozdenizci, Ozan and Koike-Akino, Toshiaki and Wang, Ye and Erdogmus, Deniz},
    • title = {Universal Physiological Representation Learning with Soft-Disentangled Rateless Autoencoders},
    • journal = {IEEE Journal of Biomedical and Health Informatics},
    • year = 2021,
    • volume = 25,
    • number = 8,
    • pages = {2928--2937},
    • month = apr,
    • doi = {10.1109/JBHI.2021.3062335},
    • issn = {2168-2208},
    • url = {https://www.merl.com/publications/TR2021-027}
    • }