MERL - Mitsubishi Electric Research Laboratories

Publications

122 / 3,313 publications found.


  •  Romeres, D., Dalla Libera, A., Amadio, F., Carli, R., "Feedback Linearization Robot Control based on Gaussian Process Inverse Dynamics Model", Conferenza Italiana di Robotica e Macchine Intelligenti, December 2020.
    BibTeX TR2020-173 PDF
    • @inproceedings{Romeres2020dec,
    • author = {Romeres, Diego and Dalla Libera, Alberto and Amadio, Fabio and Carli, Ruggero},
    • title = {Feedback Linearization Robot Control based on Gaussian Process Inverse Dynamics Model},
    • booktitle = {Conferenza Italiana di Robotica e Macchine Intelligenti},
    • year = 2020,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2020-173}
    • }
  •  Bortoff, S.A., Okasha, A., "Modelica-Based Control of A Delta Robot", ASME Dynamic Systems and Control Conference, DOI: doi.org/​10.1115/​DSCC2020-3158, December 2020.
    BibTeX TR2020-154 PDF
    • @inproceedings{Bortoff2020dec,
    • author = {Bortoff, Scott A. and Okasha, Ahmed},
    • title = {Modelica-Based Control of A Delta Robot},
    • booktitle = {ASME Dynamic Systems and Control Conference},
    • year = 2020,
    • month = dec,
    • doi = {doi.org/10.1115/DSCC2020-3158},
    • url = {https://www.merl.com/publications/TR2020-154}
    • }
  •  Ahn, H., Berntorp, K., Di Cairano, S., "Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC42340.2020.9304101, December 2020.
    BibTeX TR2020-168 PDF
    • @inproceedings{Ahn2020dec2,
    • author = {Ahn, Heejin and Berntorp, Karl and Di Cairano, Stefano},
    • title = {Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2020,
    • month = dec,
    • doi = {10.1109/CDC42340.2020.9304101},
    • url = {https://www.merl.com/publications/TR2020-168}
    • }
  •  Ahn, H., Berntorp, K., Inani, P., Ram, A.J., Di Cairano, S., "Reachability-based Decision Making for Autonomous Driving: Theory and Experiment", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2020.3022721, December 2020.
    BibTeX TR2020-165 PDF
    • @article{Ahn2020dec,
    • author = {Ahn, Heejin and Berntorp, Karl and Inani, Pranav and Ram, Arjun Jagdish and Di Cairano, Stefano},
    • title = {Reachability-based Decision Making for Autonomous Driving: Theory and Experiment},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2020,
    • month = dec,
    • doi = {10.1109/TCST.2020.3022721},
    • url = {https://www.merl.com/publications/TR2020-165}
    • }
  •  Corcodel, R., Jain, S., van Baar, J., "Interactive Tactile Perception for Classification of Novel Object Instances", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS45743.2020.9341795, November 2020, pp. 9861-9868.
    BibTeX TR2020-143 PDF Video
    • @inproceedings{Corcodel2020nov,
    • author = {Corcodel, Radu and Jain, Siddarth and van Baar, Jeroen},
    • title = {Interactive Tactile Perception for Classification of Novel Object Instances},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2020,
    • pages = {9861--9868},
    • month = nov,
    • publisher = {IEEE},
    • doi = {10.1109/IROS45743.2020.9341795},
    • url = {https://www.merl.com/publications/TR2020-143}
    • }
  •  Ota, K., Jha, D.K., Onishi, T., Kanezaki, A., Yoshiyasu, Y., Mariyama, T., Nikovski, D.N., "Deep Reactive Planning in Dynamic Environments", Conference on Robot Learning (CoRL), Kober, Jens and Ramos, Fabio and Tomlin, Calire, Eds., November 2020, pp. 1943-1957.
    BibTeX TR2020-144 PDF
    • @inproceedings{Ota2020nov2,
    • author = {Ota, Kei and Jha, Devesh K. and Onishi, Tadashi and Kanezaki, Asako and Yoshiyasu, Yusuke and Mariyama, Toshisada and Nikovski, Daniel N.},
    • title = {Deep Reactive Planning in Dynamic Environments},
    • booktitle = {Conference on Robot Learning (CoRL)},
    • year = 2020,
    • editor = {Kober, Jens and Ramos, Fabio and Tomlin, Calire},
    • pages = {1943--1957},
    • month = nov,
    • publisher = {Proceedings of Machine Learning Research},
    • url = {https://www.merl.com/publications/TR2020-144}
    • }
  •  Zhang, W., Seto, S., Jha, D.K., "CAZSL: Zero-Shot Regression for Pushing Models by Generalizing Through Context", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2020.
    BibTeX TR2020-140 PDF Software
    • @inproceedings{Zhang2020nov,
    • author = {Zhang, Wenyu and Seto, Skyler and Jha, Devesh K.},
    • title = {CAZSL: Zero-Shot Regression for Pushing Models by Generalizing Through Context},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2020,
    • month = nov,
    • url = {https://www.merl.com/publications/TR2020-140}
    • }
  •  Romeres, D., Liu, Y., Jha, D.K., Nikovski, D.N., "Understanding Multi-Modal Perception Using Behavioral Cloning for Peg-In-a-Hole Insertion Tasks", Robotics: Science and Systems, July 2020.
    BibTeX TR2020-110 PDF
    • @inproceedings{Romeres2020jul,
    • author = {Romeres, Diego and Liu, Yifang and Jha, Devesh K. and Nikovski, Daniel N.},
    • title = {Understanding Multi-Modal Perception Using Behavioral Cloning for Peg-In-a-Hole Insertion Tasks},
    • booktitle = {Robotics: Science and Systems},
    • year = 2020,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2020-110}
    • }
  •  Ota, K., Oiki, T., Jha, D.K., Mariyama, T., Nikovski, D.N., "Can Increasing Input Dimensionality Improve Deep Reinforcement Learning?", International Conference on Machine Learning (ICML), Daumé III , Hal and Singh, Aarti, Eds., June 2020, pp. 7424-7433.
    BibTeX TR2020-083 PDF Software
    • @inproceedings{Ota2020jun,
    • author = {Ota, Kei and Oiki, Tomoaki and Jha, Devesh K. and Mariyama, Toshisada and Nikovski, Daniel N.},
    • title = {Can Increasing Input Dimensionality Improve Deep Reinforcement Learning?},
    • booktitle = {International Conference on Machine Learning (ICML)},
    • year = 2020,
    • editor = {Daumé III , Hal and Singh, Aarti},
    • pages = {7424--7433},
    • month = jun,
    • publisher = {PMLR},
    • url = {https://www.merl.com/publications/TR2020-083}
    • }
  •  Jha, D.K., Kolaric, P., Raghunathan, A., Lewis, F., Benosman, M., Romeres, D., Nikovski, D.N., "Local Policy Optimization for Trajectory-Centric Reinforcement Learning", IEEE International Conference on Robotics and Automation (ICRA), Ayanna Howard, Eds., May 2020, pp. 5094-5100.
    BibTeX TR2020-062 PDF
    • @inproceedings{Jha2020may,
    • author = {Jha, Devesh K. and Kolaric, Patrik and Raghunathan, Arvind and Lewis, Frank and Benosman, Mouhacine and Romeres, Diego and Nikovski, Daniel N.},
    • title = {Local Policy Optimization for Trajectory-Centric Reinforcement Learning},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2020,
    • editor = {Ayanna Howard},
    • pages = {5094--5100},
    • month = may,
    • publisher = {IEEE},
    • isbn = {978-1-7281-7395-5},
    • url = {https://www.merl.com/publications/TR2020-062}
    • }
  •  Onol, A.O., Corcodel, R., Long, P., Padir, T., "Tuning-Free Contact-Implicit Trajectory Optimization", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA40945.2020.9196805, May 2020, pp. 1183-1189.
    BibTeX TR2020-065 PDF Video Software
    • @inproceedings{Onol2020may,
    • author = {Onol, Aykut O. and Corcodel, Radu and Long, Philip and Padir, Taskin},
    • title = {Tuning-Free Contact-Implicit Trajectory Optimization},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2020,
    • pages = {1183--1189},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA40945.2020.9196805},
    • issn = {2577-087X},
    • isbn = {978-1-7281-7395-5},
    • url = {https://www.merl.com/publications/TR2020-065}
    • }
  •  Romeres, D., Dalla Libera, A., Jha, D.K., Yerazunis, W.S., Nikovski, D.N., "Model-Based Reinforcement Learning for Physical Systems Without Velocity and Acceleration Measurements", Robotics and Automation Letters, DOI: 10.1109/​LRA.2020.2977255, Vol. 5, No. 2, pp. 3548-3555, May 2020.
    BibTeX TR2020-063 PDF
    • @article{Romeres2020may,
    • author = {Romeres, Diego and Dalla Libera, Alberto and Jha, Devesh K. and Yerazunis, William S. and Nikovski, Daniel N.},
    • title = {Model-Based Reinforcement Learning for Physical Systems Without Velocity and Acceleration Measurements},
    • journal = {Robotics and Automation Letters},
    • year = 2020,
    • volume = 5,
    • number = 2,
    • pages = {3548--3555},
    • month = may,
    • doi = {10.1109/LRA.2020.2977255},
    • issn = {2377-3766},
    • url = {https://www.merl.com/publications/TR2020-063}
    • }
  •  Bortoff, S.A., "Modeling Contact and Collisions for Robotic Assembly Control", American Modelica Conference 2020, DOI: 10.3384/​ECP2016954, March 2020, pp. 54-63.
    BibTeX TR2020-032 PDF
    • @inproceedings{Bortoff2020mar,
    • author = {Bortoff, Scott A.},
    • title = {Modeling Contact and Collisions for Robotic Assembly Control},
    • booktitle = {American Modelica Conference 2020},
    • year = 2020,
    • pages = {54--63},
    • month = mar,
    • doi = {10.3384/ECP2016954},
    • url = {https://www.merl.com/publications/TR2020-032}
    • }
  •  Caverly, R., Di Cairano, S., Weiss, A., "Control Allocation and Quantization of a GEO Satellite with 4DOF Gimbaled Thruster Booms", AAS/AIAA Space Flight Mechanics Meeting, DOI: 10.2514/​6.2020-1687, January 2020.
    BibTeX TR2020-008 PDF
    • @inproceedings{Caverly2020jan,
    • author = {Caverly, Ryan and Di Cairano, Stefano and Weiss, Avishai},
    • title = {Control Allocation and Quantization of a GEO Satellite with 4DOF Gimbaled Thruster Booms},
    • booktitle = {AAS/AIAA Space Flight Mechanics Meeting},
    • year = 2020,
    • month = jan,
    • doi = {10.2514/6.2020-1687},
    • url = {https://www.merl.com/publications/TR2020-008}
    • }
  •  Muralidharan, V., Weiss, A., Kalabic, U., "Control Strategy for Long-Term Station-Keeping on Near-Rectilinear Halo Orbits", AAS/AIAA Space Flight Mechanics Meeting, DOI: 10.2514/​6.2020-1459, January 2020.
    BibTeX TR2020-006 PDF
    • @inproceedings{Muralidharan2020jan,
    • author = {Muralidharan, Vivek and Weiss, Avishai and Kalabic, Uros},
    • title = {Control Strategy for Long-Term Station-Keeping on Near-Rectilinear Halo Orbits},
    • booktitle = {AAS/AIAA Space Flight Mechanics Meeting},
    • year = 2020,
    • month = jan,
    • doi = {10.2514/6.2020-1459},
    • url = {https://www.merl.com/publications/TR2020-006}
    • }
  •  Jha, D.K., Kolaric, P., Romeres, D., Raghunathan, A., Benosman, M., Nikovski, D.N., "Robust Optimization for Trajectory-Centric Model-based Reinforcement Learning", NeurIPS Workshop on Safety and Robustness in Decision Making, December 2019.
    BibTeX TR2019-156 PDF
    • @inproceedings{Jha2019dec2,
    • author = {Jha, Devesh K. and Kolaric, Patrik and Romeres, Diego and Raghunathan, Arvind and Benosman, Mouhacine and Nikovski, Daniel N.},
    • title = {Robust Optimization for Trajectory-Centric Model-based Reinforcement Learning},
    • booktitle = {NeurIPS Workshop on Safety and Robustness in Decision Making},
    • year = 2019,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2019-156}
    • }
  •  Jha, D.K., Raghunathan, A., Romeres, D., "QNTRPO: Including Curvature in TRPO", Optimization Foundations for Reinforcement Learning Workshop at NeurIPS, December 2019.
    BibTeX TR2019-154 PDF Software
    • @inproceedings{Jha2019dec,
    • author = {Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {QNTRPO: Including Curvature in TRPO},
    • booktitle = {Optimization Foundations for Reinforcement Learning Workshop at NeurIPS},
    • year = 2019,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2019-154}
    • }
  •  Ota, K., Jha, D.K., Oiki, T., Miura, M., Nammoto, T., Nikovski, D., Mariyama, T., "Trajectory Optimization for Unknown Constrained Systems using Reinforcement Learning", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS40897.2019.8968010, November 2019, pp. 3487-3494.
    BibTeX TR2019-129 PDF
    • @inproceedings{Ota2019nov,
    • author = {Ota, Kei and Jha, Devesh K. and Oiki, Tomohiro and Miura, Mamoru and Nammoto, Takashi and Nikovski, Daniel N. and Mariyama, Toshisada},
    • title = {Trajectory Optimization for Unknown Constrained Systems using Reinforcement Learning},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2019,
    • pages = {3487--3494},
    • month = nov,
    • publisher = {IEEE},
    • doi = {10.1109/IROS40897.2019.8968010},
    • issn = {2153-0866},
    • isbn = {978-1-7281-4004-9},
    • url = {https://www.merl.com/publications/TR2019-129}
    • }
  •  Jha, D.K., Raghunathan, A., Romeres, D., "Quasi-Newton Trust Region Policy Optimization", Conference on Robot Learning (CoRL), Leslie Pack Kaelbling, Danica Kragic, Komei Sugiura, Eds., October 2019, pp. 945-954.
    BibTeX TR2019-120 PDF Software
    • @inproceedings{Jha2019oct,
    • author = {Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Quasi-Newton Trust Region Policy Optimization},
    • booktitle = {Conference on Robot Learning (CoRL)},
    • year = 2019,
    • editor = {Leslie Pack Kaelbling, Danica Kragic, Komei Sugiura},
    • pages = {945--954},
    • month = oct,
    • publisher = {Proceedings of Machine Learning Research},
    • url = {https://www.merl.com/publications/TR2019-120}
    • }
  •  Almeida, D., Ataer-Cansizoglu, E., Corcodel, R., "Detection, Tracking and 3D Modeling of Objects with Sparse RGB-D SLAM and Interactive Perception", IEEE-RAS International Conference on Humanoid Robots, DOI: 10.1109/​Humanoids43949.2019.9035001, October 2019, pp. 1-8.
    BibTeX TR2019-119 PDF
    • @inproceedings{Almeida2019oct,
    • author = {Almeida, Diogo and Ataer-Cansizoglu, Esra and Corcodel, Radu},
    • title = {Detection, Tracking and 3D Modeling of Objects with Sparse RGB-D SLAM and Interactive Perception},
    • booktitle = {IEEE-RAS International Conference on Humanoid Robots},
    • year = 2019,
    • pages = {1--8},
    • month = oct,
    • doi = {10.1109/Humanoids43949.2019.9035001},
    • url = {https://www.merl.com/publications/TR2019-119}
    • }
  •  Takahashi, T., Sun, H., Tian, D., Wang, Y., "Learning Heuristic Functions for Mobile Robot Path Planning Using Deep Neural Networks", International Conference on Automated Planning and Scheduling (ICAPS), July 2019, pp. 764-772.
    BibTeX TR2019-072 PDF
    • @inproceedings{Takahashi2019jul,
    • author = {Takahashi, Takeshi and Sun, He and Tian, Dong and Wang, Yebin},
    • title = {Learning Heuristic Functions for Mobile Robot Path Planning Using Deep Neural Networks},
    • booktitle = {International Conference on Automated Planning and Scheduling (ICAPS)},
    • year = 2019,
    • pages = {764--772},
    • month = jul,
    • publisher = {AAAI},
    • url = {https://www.merl.com/publications/TR2019-072}
    • }
  •  Berntorp, K., Inani, P., Quirynen, R., Di Cairano, S., "Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation", American Control Conference (ACC), DOI: 10.23919/​ACC.2019.8815309, July 2019, pp. 1382-1387.
    BibTeX TR2019-062 PDF
    • @inproceedings{Berntorp2019jul2,
    • author = {Berntorp, Karl and Inani, Pranav and Quirynen, Rien and Di Cairano, Stefano},
    • title = {Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation},
    • booktitle = {American Control Conference (ACC)},
    • year = 2019,
    • pages = {1382--1387},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ACC.2019.8815309},
    • url = {https://www.merl.com/publications/TR2019-062}
    • }
  •  Romeres, D., Jha, D.K., Dau, H., Yerazunis, W.S., Nikovski, D.N., "Anomaly Detection for Insertion Tasks in Robotic Assembly Using Gaussian Process Models", European Control Conference (ECC), DOI: 10.23919/​ECC.2019.8795698, June 2019, pp. 1017-1022.
    BibTeX TR2019-055 PDF
    • @inproceedings{Romeres2019jun,
    • author = {Romeres, Diego and Jha, Devesh K. and Dau, Hoang and Yerazunis, William S. and Nikovski, Daniel N.},
    • title = {Anomaly Detection for Insertion Tasks in Robotic Assembly Using Gaussian Process Models},
    • booktitle = {European Control Conference (ECC)},
    • year = 2019,
    • pages = {1017--1022},
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ECC.2019.8795698},
    • isbn = {978-3-907144-00-8},
    • url = {https://www.merl.com/publications/TR2019-055}
    • }
  •  Romeres, D., Jha, D.K., Dalla Libera, A., Yerazunis, W.S., Nikovski, D.N., "Semiparametrical Gaussian Processes Learning of Forward Dynamical Models for Navigating in a Circular Maze", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA.2019.8794229, May 2019, pp. 3195-3202.
    BibTeX TR2019-028 PDF Video Software
    • @inproceedings{Romeres2019may,
    • author = {Romeres, Diego and Jha, Devesh K. and Dalla Libera, Alberto and Yerazunis, William S. and Nikovski, Daniel N.},
    • title = {Semiparametrical Gaussian Processes Learning of Forward Dynamical Models for Navigating in a Circular Maze},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2019,
    • pages = {3195--3202},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA.2019.8794229},
    • issn = {2577-087X},
    • isbn = {978-1-5386-6027-0},
    • url = {https://www.merl.com/publications/TR2019-028}
    • }
  •  Romeres, D.., Jha, D.K., Dalla Libera, A., Chiuso, A., Nikovski, D.N., "Derivative-Free Semiparametric Bayesian Models for Robot Learning", Advances in Neural Information Processing Systems (NIPS), December 2018.
    BibTeX TR2018-165 PDF
    • @inproceedings{Romeres2018dec,
    • author = {Romeres, Diego and Jha, Devesh K. and Dalla Libera, Alberto and Chiuso, Alessandro and Nikovski, Daniel N.},
    • title = {Derivative-Free Semiparametric Bayesian Models for Robot Learning},
    • booktitle = {Advances in Neural Information Processing Systems (NIPS)},
    • year = 2018,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2018-165}
    • }
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