Publications

28 / 4,068 publications found.


  •  Ma, C., Yang, Y., Corcodel, R., Jain, S., Wu, A., Hori, C., Romeres, D., "FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model", arXiv, July 2026.
    BibTeX arXiv
    • @article{Ma2026jul,
    • author = {Ma, Chenyang and Yang, Yue and Corcodel, Radu and Jain, Siddarth and Wu, Andrew and Hori, Chiori and Romeres, Diego},
    • title = {{FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model}},
    • journal = {arXiv},
    • year = 2026,
    • month = jul,
    • url = {https://arxiv.org/abs/2607.01212}
    • }
  •  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}
    • }
  •  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), DOI: 10.1109/​LRA.2025.3641155, 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,
    • doi = {10.1109/LRA.2025.3641155},
    • url = {https://www.merl.com/publications/TR2026-057}
    • }
  •  Cherian, A., Corcodel, R., Jain, S., Romeres, D., "LLMPhy: Parameter-Identifiable Physical Reasoning Combining Large Language Models and Physics Engines", International Conference on Artificial Intelligence and Statistics (AISTATS), May 2026.
    BibTeX TR2026-052 PDF Data Software
    • @inproceedings{Cherian2026may,
    • author = {Cherian, Anoop and Corcodel, Radu and Jain, Siddarth and Romeres, Diego},
    • title = {{LLMPhy: Parameter-Identifiable Physical Reasoning Combining Large Language Models and Physics Engines}},
    • booktitle = {International Conference on Artificial Intelligence and Statistics (AISTATS)},
    • year = 2026,
    • month = may,
    • url = {https://www.merl.com/publications/TR2026-052}
    • }
  •  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, C. Vondrick and B. Hariharan and C. Raffel and L. Pinto and D. Yang and A. Faust, Eds., April 2026, pp. 70072-70141.
    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},
    • year = 2026,
    • editor = {C. Vondrick and B. Hariharan and C. Raffel and L. Pinto and D. Yang and A. Faust},
    • pages = {70072--70141},
    • month = apr,
    • url = {https://www.merl.com/publications/TR2026-045}
    • }
  •  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}
    • }
  •  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}
    • }
  •  Zhang, Y., Corcodel, R., "Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning", IEEE-RAS International Conference on Humanoid Robots, DOI: 10.1109/​Humanoids65713.2025.11203112, September 2025.
    BibTeX TR2025-140 PDF
    • @inproceedings{Zhang2025sep2,
    • author = {Zhang, Yuyou and Corcodel, Radu},
    • title = {{Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning}},
    • booktitle = {IEEE-RAS International Conference on Humanoid Robots},
    • year = 2025,
    • month = sep,
    • publisher = {IEEE},
    • doi = {10.1109/Humanoids65713.2025.11203112},
    • isbn = {979-8-3315-9869-3},
    • url = {https://www.merl.com/publications/TR2025-140}
    • }
  •  Bronars, A., Corcodel, R., Jha, D.K., "High-Accuracy Tactile Pose Estimation for Connector Assembly", ICRA 2025 Workshop on “Towards Human Level Intelligence Vision and Tactile Sensing”, May 2025.
    BibTeX TR2025-057 PDF
    • @inproceedings{Bronars2025may,
    • author = {Bronars, Antonia and Corcodel, Radu and Jha, Devesh K.},
    • title = {{High-Accuracy Tactile Pose Estimation for Connector Assembly}},
    • booktitle = {ICRA 2025 Workshop on “Towards Human Level Intelligence Vision and Tactile Sensing”},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-057}
    • }
  •  Hori, C., Kambara, M., Sugiura, K., Ota, K., Khurana, S., Jain, S., Corcodel, R., Jha, D.K., Romeres, D., Le Roux, J., "Interactive Robot Action Replanning using Multimodal LLM Trained from Human Demonstration Videos", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), DOI: 10.1109/​ICASSP49660.2025.10887717, April 2025.
    BibTeX TR2025-034 PDF
    • @inproceedings{Hori2025mar,
    • author = {Hori, Chiori and Kambara, Motonari and Sugiura, Komei and Ota, Kei and Khurana, Sameer and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and {Le Roux}, Jonathan},
    • title = {{Interactive Robot Action Replanning using Multimodal {LLM} Trained from Human Demonstration Videos}},
    • booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
    • year = 2025,
    • month = mar,
    • doi = {10.1109/ICASSP49660.2025.10887717},
    • url = {https://www.merl.com/publications/TR2025-034}
    • }
  •  Cherian, A., Corcodel, R., Jain, S., Romeres, D., "LLMPhy: Complex Physical Reasoning Using Large Language Models and World Models", arXiv, November 2024.
    BibTeX arXiv
    • @article{Cherian2024oct,
    • author = {Cherian, Anoop and Corcodel, Radu and Jain, Siddarth and Romeres, Diego},
    • title = {{LLMPhy: Complex Physical Reasoning Using Large Language Models and World Models}},
    • journal = {arXiv},
    • year = 2024,
    • month = nov,
    • url = {https://arxiv.org/abs/2411.08027}
    • }
  •  Ota, K., Jha, D.K., Jain, S., Yerazunis, W.S., Corcodel, R., Shukla, Y., Bronars, A., Romeres, D., "Autonomous Robotic Assembly: From Part Singulation to Precise Assembly", IEEE/RSJ International Conference on Intelligent Robots and Systems., DOI: 10.1109/​IROS58592.2024.10802423, October 2024, pp. 13525-13532.
    BibTeX TR2024-133 PDF
    • @inproceedings{Ota2024oct,
    • author = {Ota, Kei and Jha, Devesh K. and Jain, Siddarth and Yerazunis, William S. and Corcodel, Radu and Shukla, Yash and Bronars, Antonia and Romeres, Diego},
    • title = {{Autonomous Robotic Assembly: From Part Singulation to Precise Assembly}},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems.},
    • year = 2024,
    • pages = {13525--13532},
    • month = oct,
    • publisher = {IEEE},
    • doi = {10.1109/IROS58592.2024.10802423},
    • issn = {2153-0866},
    • url = {https://www.merl.com/publications/TR2024-133}
    • }
  •  Fujihashi, T., Koike-Akino, T., Corcodel, R., "Graph-Based Analog Joint Source Channel Coding for 3D Haptic Communication", IEEE International Conference on Communications (ICC), DOI: 10.1109/​ICC51166.2024.10622893, June 2024.
    BibTeX TR2024-070 PDF
    • @inproceedings{Fujihashi2024jun,
    • author = {Fujihashi, Takuya and Koike-Akino, Toshiaki and Corcodel, Radu},
    • title = {{Graph-Based Analog Joint Source Channel Coding for 3D Haptic Communication}},
    • booktitle = {IEEE International Conference on Communications (ICC)},
    • year = 2024,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.1109/ICC51166.2024.10622893},
    • issn = {1938-1883},
    • isbn = {978-1-7281-9054-9},
    • url = {https://www.merl.com/publications/TR2024-070}
    • }
  •  Kambara, M., Hori, C., Sugiura, K., Ota, K., Jha, D.K., Khurana, S., Jain, S., Corcodel, R., Romeres, D., Le Roux, J., "Human Action Understanding-based Robot Planning using Multimodal LLM", IEEE International Conference on Robotics and Automation (ICRA), June 2024.
    BibTeX TR2024-066 PDF
    • @inproceedings{Kambara2024jun,
    • author = {Kambara, Motonari and Hori, Chiori and Sugiura, Komei and Ota, Kei and Jha, Devesh K. and Khurana, Sameer and Jain, Siddarth and Corcodel, Radu and Romeres, Diego and {Le Roux}, Jonathan},
    • title = {{Human Action Understanding-based Robot Planning using Multimodal LLM}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA) Workshop},
    • year = 2024,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2024-066}
    • }
  •  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), DOI: 10.1109/​ICRA57147.2024.10610567, May 2024, pp. 9227-9233.
    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,
    • pages = {9227--9233},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA57147.2024.10610567},
    • isbn = {979-8-3503-8457-4},
    • 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), DOI: 10.1109/​ICRA57147.2024.10610981, May 2024, pp. 14054-14061.
    BibTeX TR2024-052 PDF Video
    • @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,
    • pages = {14054--14061},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA57147.2024.10610981},
    • isbn = {979-8-3503-8457-4},
    • url = {https://www.merl.com/publications/TR2024-052}
    • }
  •  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 Video
    • @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}
    • }
  •  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}
    • }
  •  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}
    • }
  •  Jain, S., Corcodel, R., Jha, D.K., Romeres, D., "Vision Guided Food Assembly by Robot Teaching from Target Composition", ICRA 2023 Workshop on Task-Informed Grasping IV (TIG-IV): From Farm to Fork, May 2023.
    BibTeX TR2023-067 PDF
    • @inproceedings{Jain2023may,
    • author = {Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego},
    • title = {{Vision Guided Food Assembly by Robot Teaching from Target Composition}},
    • booktitle = {ICRA 2023 Workshop on Task-Informed Grasping IV (TIG-IV): From Farm to Fork},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-067}
    • }
  •  Shaw, S., Jha, D.K., Raghunathan, A., Corcodel, R., Romeres, D., Konidaris, G., Nikovski, D., "Constrained Dynamic Movement Primitives for Safe Learning of Motor Skills", arXiv, September 2022.
    BibTeX arXiv
    • @article{Shaw2022sep,
    • 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 Safe Learning of Motor Skills}},
    • journal = {arXiv},
    • year = 2022,
    • month = sep,
    • url = {https://arxiv.org/abs/2209.14461}
    • }
  •  Russel, R.H., Benosman, M., van Baar, J., Corcodel, R., "Lyapunov Robust Constrained-MDPs for Sim2Real Transfer Learning" in Federated and Transfer Learning, Roozbeh Razavi-Far, Boyu Wang, Matthew E. Taylor, Qiang Yang, Eds., DOI: 10.1007/​978-3-031-11748-0_13, pp. 307–328, Springer, Cham, August 2022.
    BibTeX TR2022-111 PDF
    • @incollection{Russel2022aug,
    • author = {Russel, Reazul Hasan and Benosman, Mouhacine and {van Baar}, Jeroen and Corcodel, Radu},
    • title = {{Lyapunov Robust Constrained-MDPs for Sim2Real Transfer Learning}},
    • booktitle = {Federated and Transfer Learning},
    • year = 2022,
    • editor = {Roozbeh Razavi-Far, Boyu Wang, Matthew E. Taylor, Qiang Yang},
    • pages = {307–328},
    • month = aug,
    • publisher = {Springer, Cham},
    • doi = {10.1007/978-3-031-11748-0_13},
    • isbn = {978-3-031-11747-3},
    • url = {https://www.merl.com/publications/TR2022-111}
    • }
  •  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}
    • }
  •  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}
    • }
  •  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
    • @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}
    • }