- Jain, S., Choi, H.J., "SplatCtrl: Perception–Action Coupling via Gaussian Scene Representations and Reactive Robot Control", 2026 IEEE International Conference on Robotics & Automation (ICRA), June 2026.
BibTeX TR2026-069 PDF- @inproceedings{Jain2026jun,
- author = {{Jain, Siddarth and Choi, Ho Jin}},
- title = {{SplatCtrl: Perception–Action Coupling via Gaussian Scene Representations and Reactive Robot Control}},
- booktitle = {2026 IEEE International Conference on Robotics \& Automation (ICRA)},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-069}
- }
- Oller, M., Qian, Q., Corcodel, R., Jain, S., "M-VTOP: Modular Visuo-Tactile Object Pose Estimation for High-Precision Robotic Manipulation", 2026 IEEE International Conference on Robotics & Automation (ICRA), June 2026.
BibTeX TR2026-070 PDF- @inproceedings{Oller2026jun,
- author = {Oller, Miquel and Qian, Qiyang and Corcodel, Radu and Jain, Siddarth},
- title = {{M-VTOP: Modular Visuo-Tactile Object Pose Estimation for High-Precision Robotic Manipulation}},
- booktitle = {2026 IEEE International Conference on Robotics \& Automation (ICRA)},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-070}
- }
- Yao, S., Xing, C., Jha, D.K., Romeres, D., "Dexterous Non-prehensile Manipulation using Environment Guided Diffusion Models", ICRA Workshop on Dexterity with Multifingered Hands: Hardware, Sensing, and Skills, June 2026.
BibTeX TR2026-073 PDF- @inproceedings{Yao2026jun,
- author = {Yao, Shaoxiong and Xing, Chengy and Jha, Devesh K. and Romeres, Diego},
- title = {{Dexterous Non-prehensile Manipulation using Environment Guided Diffusion Models}},
- booktitle = {ICRA Workshop on Dexterity with Multifingered Hands: Hardware, Sensing, and Skills},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-073}
- }
- Buckner, S., Elango, P., "GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion", IEEE International Conference on Robotics and Automation (ICRA), June 2026.
BibTeX TR2026-068 PDF- @inproceedings{Buckner2026jun,
- author = {Buckner, Samuel and Elango, Purnanand},
- title = {{GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-068}
- }
- Schperberg, A., Wang, Y., Di Cairano, S., "Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control", IEEE International Conference on Robotics and Automation (ICRA), June 2026.
BibTeX TR2026-072 PDF Video- @inproceedings{Schperberg2026jun,
- author = {Schperberg, Alexander and Wang, Yeping and {Di Cairano}, Stefano},
- title = {{Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-072}
- }
- Velentzas, I.G., Kento, T., "LIDIA: Localizing In the Dark with Illumination-Awareness toward Perception-Aware Planning", IEEE International Conference on Robotics and Automation (ICRA), June 2026.
BibTeX TR2026-071 PDF- @inproceedings{Velentzas2026jun,
- author = {Velentzas, Iason, G and Kento, Tomita},
- title = {{LIDIA: Localizing In the Dark with Illumination-Awareness toward Perception-Aware Planning}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-071}
- }
- Wang, Z., Jha, D.K., Qureshi, A.H., Romeres, D., "PPGuide: Steering Diffusion Policies with Performance Predictive Guidance", IEEE International Conference on Robotics and Automation (ICRA), May 2026.
BibTeX TR2026-066 PDF- @inproceedings{Wang2026may2,
- author = {Wang, Zixing and Jha, Devesh K. and Qureshi , Ahmed H. and Romeres, Diego},
- title = {{PPGuide: Steering Diffusion Policies with Performance Predictive Guidance}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2026,
- month = may,
- url = {https://www.merl.com/publications/TR2026-066}
- }
- Xu, Z., Shirai, Y., "UNIC: Learning Unified Multimodal Extrinsic Contact Estimation", IEEE International Conference on Robotics and Automation (ICRA), May 2026.
BibTeX TR2026-065 PDF Video Data Software- @inproceedings{Xu2026may,
- author = {Xu, Zhengtong and Shirai, Yuki},
- title = {{UNIC: Learning Unified Multimodal Extrinsic Contact Estimation}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2026,
- month = may,
- url = {https://www.merl.com/publications/TR2026-065}
- }
- Leung, J., Di Cairano, S., "Invariant-set motion-planner for unicycle dynamics under closed-loop feedback linearization", American Control Conference (ACC), May 2026.
BibTeX TR2026-064 PDF- @inproceedings{Leung2026may2,
- author = {Leung, Jordan and {Di Cairano}, Stefano},
- title = {{Invariant-set motion-planner for unicycle dynamics under closed-loop feedback linearization}},
- booktitle = {American Control Conference (ACC)},
- year = 2026,
- month = may,
- url = {https://www.merl.com/publications/TR2026-064}
- }
- Queeney, J., Cai, X., Schperberg, A., Corcodel, R., Benosman, M., How, J., "GRAM: Generalization in Deep RL with a Robust Adaptation Module", IEEE Robotics and Automation Letters (RA-L), May 2026.
BibTeX TR2026-057 PDF- @article{Queeney2026may,
- author = {Queeney, James and Cai, Xiaoyi and Schperberg, Alexander and Corcodel, Radu and Benosman, Mouhacine and How, Jonathan},
- title = {{GRAM: Generalization in Deep RL with a Robust Adaptation Module}},
- journal = {IEEE Robotics and Automation Letters (RA-L)},
- year = 2026,
- month = may,
- url = {https://www.merl.com/publications/TR2026-057}
- }
- Zhang, Y., Corcodel, R., Hori, C., Cherian, A., Zhao, D., "SpinBench: 3D Rotation as a Lens on Spatial Reasoning in VLMs", International Conference on Learning Representations (ICLR) 2026, April 2026.
BibTeX TR2026-045 PDF- @inproceedings{Zhang2026apr2,
- author = {Zhang, Yuyou and Corcodel, Radu and Hori, Chiori and Cherian, Anoop and Zhao, Ding},
- title = {{SpinBench: 3D Rotation as a Lens on Spatial Reasoning in VLMs}},
- booktitle = {International Conference on Learning Representations (ICLR) 2026},
- year = 2026,
- month = apr,
- url = {https://www.merl.com/publications/TR2026-045}
- }
- Wiebe, F., Turcato, N., Dalla Libera, A., Seong Bjorn Choe, J., Choi, B., Faust, T.L., Maraqten, H., Aghadavoodi, E., Cali, M., Sinigaglia, A., Giacomuzzo, G., Carli, R., Romeres, D., Kim, J.-K., Susto, G.A., Vyas, S., Mronga, D., Belousov, B., Peters, J., Kirchner, F., Kumar, S., "Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd “AI Olympics with RealAIGym” Competition", IEEE Robotics & Automation Magazine, January 2026.
BibTeX TR2026-013 PDF- @article{Wiebe2026jan,
- author = {{{Wiebe, Felix and Turcato, Niccolò and Dalla Libera, Alberto and Seong Bjorn Choe, Jean and Choi, Bumkyu and Faust, Tim Lukas and Maraqten, Habib and Aghadavoodi, Erfan and Cali, Marco and Sinigaglia, Alberto and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego and Kim, Jong-kook and Susto, Gian Antonio and Vyas, Shubham and Mronga, Dennis and Belousov, Boris and Peters, Jan and Kirchner, Frank and Kumar, Shivesh}}},
- title = {{{Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd “AI Olympics with RealAIGym” Competition}}},
- journal = {IEEE Robotics \& Automation Magazine},
- year = 2026,
- month = jan,
- url = {https://www.merl.com/publications/TR2026-013}
- }
- 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}
- }
- 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, DOI: 10.1109/LRA.2026.3653324, Vol. 11, No. 3, pp. 2394-2401, 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,
- volume = 11,
- number = 3,
- pages = {2394--2401},
- month = dec,
- doi = {10.1109/LRA.2026.3653324},
- url = {https://www.merl.com/publications/TR2026-002}
- }
- 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 Video- @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 Control Systems Letters},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-170}
- }
- 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}
- }
- 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), DOI: 10.1109/ASRU65441.2025.11434641, 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,
- doi = {10.1109/ASRU65441.2025.11434641},
- issn = {2997-6995},
- isbn = {979-8-3315-4426-3},
- url = {https://www.merl.com/publications/TR2025-167}
- }
- Van der Merwe, M., Jha, D.K., "In-Context Policy Iteration for Dynamic Manipulation", Advances in Neural Information Processing Systems (NeurIPS) Workshop on Embodied World Models for Decision Making, December 2025.
BibTeX TR2025-163 PDF Video- @inproceedings{VanderMerwe2025dec,
- author = {Van der Merwe, Mark and Jha, Devesh K.},
- title = {{In-Context Policy Iteration for Dynamic Manipulation}},
- booktitle = {Advances in Neural Information Processing Systems (NeurIPS) Workshop on Embodied World Models for Decision Making},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-163}
- }
- Gambill, P., Jha, D.K., Krishnamoorthy, B., Raghunathan, A., Yerazunis, W.S., "DamageEst: Accurate Estimation of Damage for Repair using Additive Manufacturing", Solid Freeform Fabrication Symposium (SFF), November 2025, pp. 1506-1526.
BibTeX TR2025-158 PDF Presentation- @inproceedings{Gambill2025nov,
- author = {{{Gambill, Patrick and Jha, Devesh K. and Krishnamoorthy, Bala and Raghunathan, Arvind and Yerazunis, William S.}}},
- title = {{{DamageEst: Accurate Estimation of Damage for Repair using Additive Manufacturing}}},
- booktitle = {36th Annual International Solid Freeform Fabrication Symposium – An Additive Manufacturing Conference},
- year = 2025,
- pages = {1506--1526},
- month = nov,
- url = {https://www.merl.com/publications/TR2025-158}
- }
- Nikovski, D.N., "Observation-Based Inverse Kinematics for Visual Servo Control", 22nd International Conference on Informatics in Control, Automation and Robotics (ICINCO), DOI: 10.5220/0013701100003982, October 2025, pp. 200-207.
BibTeX TR2025-153 PDF- @inproceedings{Nikovski2025oct,
- author = {Nikovski, Daniel N.},
- title = {{Observation-Based Inverse Kinematics for Visual Servo Control}},
- booktitle = {22nd International Conference on Informatics in Control, Automation and Robotics (ICINCO)},
- year = 2025,
- pages = {200--207},
- month = oct,
- publisher = {SciTePress},
- doi = {10.5220/0013701100003982},
- isbn = {978-989-758-770-2},
- url = {https://www.merl.com/publications/TR2025-153}
- }
- Piedade, V., Chitturi, S., Gaspar, J., Govindu, V., Miraldo, P., "SAC-GNC: SAmple Consensus for adaptive Graduated Non-Convexity", IEEE International Conference on Computer Vision (ICCV), DOI: 10.1109/ICCV51701.2025.00547, October 2025, pp. 5780-5790.
BibTeX TR2025-146 PDF Video Software Presentation- @inproceedings{Piedade2025oct,
- author = {{{Piedade, Valter and Chitturi, Sidhartha and Gaspar, Jose and Govindu, Venu and Miraldo, Pedro}}},
- title = {{{SAC-GNC: SAmple Consensus for adaptive Graduated Non-Convexity}}},
- booktitle = {IEEE International Conference on Computer Vision (ICCV)},
- year = 2025,
- pages = {5780--5790},
- month = oct,
- doi = {10.1109/ICCV51701.2025.00547},
- url = {https://www.merl.com/publications/TR2025-146}
- }
- Jaitly, A., Jha, D.K., Ota, K., Shirai, Y., "Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/IROS60139.2025.11246568, October 2025, pp. 6659-6666.
BibTeX TR2025-150 PDF Video- @inproceedings{Jaitly2025oct,
- author = {Jaitly, Akshay and Jha, Devesh K. and Ota, Kei and Shirai, Yuki},
- title = {{Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization}},
- booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2025,
- pages = {6659--6666},
- month = oct,
- doi = {10.1109/IROS60139.2025.11246568},
- url = {https://www.merl.com/publications/TR2025-150}
- }
- Karumanchi, S., Rokaha, B., Schperberg, A., Vinod, A.P., "Energy-constrained multi-robot exploration for autonomous map building", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/IROS60139.2025.11247332, October 2025, pp. 9154-9161.
BibTeX TR2025-131 PDF- @inproceedings{Karumanchi2025oct,
- author = {Karumanchi, Sambhu and Rokaha, Bhagawan and Schperberg, Alexander and Vinod, Abraham P.},
- title = {{Energy-constrained multi-robot exploration for autonomous map building}},
- booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2025,
- pages = {9154--9161},
- month = oct,
- doi = {10.1109/IROS60139.2025.11247332},
- url = {https://www.merl.com/publications/TR2025-131}
- }