- Vats, S., Jha, D.K., Likhachev, M., Kroemer, O., Romeres, D., "RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2025.
BibTeX TR2025-152 PDF- @inproceedings{Vats2025oct,
- author = {Vats, Shivam and Jha, Devesh K. and Likhachev, Maxim and Kroemer, Oliver and Romeres, Diego},
- title = {{RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation}},
- booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2025,
- month = oct,
- url = {https://www.merl.com/publications/TR2025-152}
- }
- Pegoraro, G., Giacomuzzo, G., Terreran, M., Ghidoni, S., Carli, R., Romeres, D., "Hierarchical Task Planning for Human-Robot Collaborative Assembly", IFAC Joint Conference on Computers, Cognition, and Communication, September 2025.
BibTeX TR2025-134 PDF- @inproceedings{Pegoraro2025sep,
- author = {Pegoraro, Giulia and Giacomuzzo, Giulio and Terreran, Matteo and Ghidoni, Stefano and Carli, Ruggero and Romeres, Diego},
- title = {{Hierarchical Task Planning for Human-Robot Collaborative Assembly}},
- booktitle = {IFAC Joint Conference on Computers, Cognition, and Communication},
- year = 2025,
- month = sep,
- url = {https://www.merl.com/publications/TR2025-134}
- }
- Shirai, Y., Ota, K., Jha, D.K., Romeres, D., "Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations", arXiv, August 2025.
BibTeX arXiv- @article{Shirai2025aug,
- author = {Shirai, Yuki and Ota, Kei and Jha, Devesh K. and Romeres, Diego},
- title = {{Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations}},
- journal = {arXiv},
- year = 2025,
- month = aug,
- url = {https://www.arxiv.org/abs/2508.01082}
- }
- Giacomuzzo, G., Romeres, D., Carli, R., Dalla Libera, A., "Learning Positive Definite Inertia Matrices in Black-Box Inverse Dynamics Models via Gaussian Processes: a Constraint Learning Approach", European Control Conference (ECC), June 2025.
BibTeX TR2025-090 PDF- @inproceedings{Giacomuzzo2025jun,
- author = {Giacomuzzo, Giulio and Romeres, Diego and Carli, Ruggero and Dalla Libera, Alberto},
- title = {{Learning Positive Definite Inertia Matrices in Black-Box Inverse Dynamics Models via Gaussian Processes: a Constraint Learning Approach}},
- booktitle = {European Control Conference (ECC)},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-090}
- }
- Vats, S., Jha, D.K., Likhachev, M., Kroemer, O., Romeres, D., "RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation", R3: Reasoning for Robust Robot Manipulation in the Open World Workshop at R:SS 2025, June 2025.
BibTeX TR2025-091 PDF- @inproceedings{Vats2025jun,
- author = {Vats, Shivam and Jha, Devesh K. and Likhachev, Maxim and Kroemer, Oliver and Romeres, Diego},
- title = {{RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation}},
- booktitle = {R3: Reasoning for Robust Robot Manipulation in the Open World Workshop at R:SS 2025},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-091}
- }
- De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Romeres, D., "Human Monitoring with Correlation-based Dynamic Time Warping for Collaborative Assembly", IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation, May 2025.
BibTeX TR2025-067 PDF Video- @inproceedings{DeLazzari2025may2,
- author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Romeres, Diego},
- title = {{Human Monitoring with Correlation-based Dynamic Time Warping for Collaborative Assembly}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-067}
- }
- Giacomuzzo, G., Pegoraro, G., Terreran, M., Ghidoni, S., Carli, R., Romeres, D., "E-UHTP: An Extended Human-Aware Task Planner for Communication-Free Collaborative Assembly", IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation, May 2025.
BibTeX TR2025-066 PDF- @inproceedings{Giacomuzzo2025may,
- author = {Giacomuzzo, Giulio and Pegoraro, Giulia and Terreran, Matteo and Ghidoni, Stefano and Carli, Ruggero and Romeres, Diego},
- title = {{E-UHTP: An Extended Human-Aware Task Planner for Communication-Free Collaborative Assembly}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-066}
- }
- Lu, K., Ma, C., Hori, C., Romeres, D., "KitchenVLA: Iterative Vision-Language Corrections for Robotic Execution of Human Tasks", IEEE International Conference on Robotics and Automation Workshop on Safely Leveraging Vision-Language Foundation Models in Robotics (SafeLVMs@ICRA), May 2025.
BibTeX TR2025-068 PDF- @inproceedings{Lu2025may,
- author = {Lu, Kai and Ma, Chenyang and Hori, Chiori and Romeres, Diego},
- title = {{KitchenVLA: Iterative Vision-Language Corrections for Robotic Execution of Human Tasks}},
- booktitle = {IEEE International Conference on Robotics and Automation Workshop on Safely Leveraging Vision-Language Foundation Models in Robotics (SafeLVMs@ICRA)},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-068}
- }
- Giacomuzzo, G., Romeres, D., Carli, R., Dalla Libera, A., "Embedding Physical Consistency in Black-Box Inverse Dynamics Learning", IEEE International Conference on Robotics and Automation (ICRA) Workshop on Structured Learning for Efficient, Reliable, and Transparent Robots, May 2025.
BibTeX External- @inproceedings{Giacomuzzo2025may2,
- author = {{{Giacomuzzo, Giulio and Romeres, Diego and Carli, Ruggero and Dalla Libera, Alberto}}},
- title = {{{Embedding Physical Consistency in Black-Box Inverse Dynamics Learning}}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA) Workshop on Structured Learning for Efficient, Reliable, and Transparent Robots},
- year = 2025,
- month = may,
- url = {https://sites.google.com/view/srl-icra-2025/accepted-papers?authuser=0}
- }
- De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Romeres, D., "PACE: Proactive Assistance in Human-Robot Collaboration through Action-Completion Estimation", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
BibTeX TR2025-064 PDF Video- @inproceedings{DeLazzari2025may,
- author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Romeres, Diego},
- title = {{PACE: Proactive Assistance in Human-Robot Collaboration through Action-Completion Estimation}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-064}
- }
- Chen, Y., Jha, D.K., Tomizuka, M., Romeres, D., "FDPP: Fine-tune Diffusion Policy with Human Preference", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
BibTeX TR2025-053 PDF Video- @inproceedings{Chen2025may,
- author = {Chen, Yuxin and Jha, Devesh K. and Tomizuka, Masayoshi and Romeres, Diego},
- title = {{FDPP: Fine-tune Diffusion Policy with Human Preference}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-053}
- }
- Turcato, N., Cali, M., Dalla Libera, A., Giacomuzzo, G., Carli, R., Romeres, D., "Learning global control of underactuated double pendulum with Model-Based Reinforcement Learning", IEEE International Conference on Robotics and Automation (ICRA) - 3rd AI Olympics with RealAIGym Competition, April 2025.
BibTeX TR2025-046 PDF- @inproceedings{Turcato2025apr,
- author = {Turcato, Niccolò and Cali, Marco and Dalla Libera, Alberto and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego},
- title = {{Learning global control of underactuated double pendulum with Model-Based Reinforcement Learning}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - 3rd AI Olympics with RealAIGym Competition},
- year = 2025,
- month = apr,
- url = {https://www.merl.com/publications/TR2025-046}
- }
- 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}
- }
- Shao, K., Chakrabarty, A., Mesbah, A., Romeres, D., "Coactive Preference-Guided Multi-Objective Bayesian Optimization: An Application to Policy Learning in Personalized Plasma Medicine", IEEE Control Systems Letters, DOI: 10.1109/LCSYS.2024.3521965, Vol. 8, pp. 3081-3086, February 2025.
BibTeX TR2025-021 PDF- @article{Shao2025feb,
- author = {Shao, Ketong and Chakrabarty, Ankush and Mesbah, Ali and Romeres, Diego},
- title = {{Coactive Preference-Guided Multi-Objective Bayesian Optimization: An Application to Policy Learning in Personalized Plasma Medicine}},
- journal = {IEEE Control Systems Letters},
- year = 2025,
- volume = 8,
- pages = {3081--3086},
- month = feb,
- doi = {10.1109/LCSYS.2024.3521965},
- issn = {2475-1456},
- url = {https://www.merl.com/publications/TR2025-021}
- }
- Ip, J.H.S., Chakrabarty, A., Mesbah, A., Romeres, D., "User Preference Meets Pareto-Optimality in Multi-Objective Bayesian Optimization", AAAI Conference on Artificial Intelligence, DOI: 10.1609/aaai.v39i19.34230, February 2025.
BibTeX TR2025-018 PDF- @inproceedings{Ip2025feb,
- author = {{{Ip, Joshua Hang Sai and Chakrabarty, Ankush and Mesbah, Ali and Romeres, Diego}}},
- title = {{{User Preference Meets Pareto-Optimality in Multi-Objective Bayesian Optimization}}},
- booktitle = {AAAI Conference on Artificial Intelligence},
- year = 2025,
- month = feb,
- doi = {10.1609/aaai.v39i19.34230},
- url = {https://www.merl.com/publications/TR2025-018}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming", Nonlinear Analysis: Hybrid Systems, DOI: 10.1016/j.nahs.2024.101466, Vol. 52, 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,
- volume = 52,
- month = dec,
- doi = {10.1016/j.nahs.2024.101466},
- issn = {1751-570X},
- url = {https://www.merl.com/publications/TR2024-008}
- }
- Ip, J.H.S., Chakrabarty, A., Masui Hideyuki, , Mesbah, A., Romeres, D., "Preference-based Multi-Objective Bayesian Optimization with Gradients", NeurIPS Workshop on Bayesian Decision-making and Uncertainty, December 2024.
BibTeX TR2025-011 PDF- @inproceedings{Ip2024dec,
- author = {Ip, Joshua Hang Sai and Chakrabarty, Ankush and Masui Hideyuki and Mesbah, Ali and Romeres, Diego},
- title = {{Preference-based Multi-Objective Bayesian Optimization with Gradients}},
- booktitle = {NeurIPS Workshop on Bayesian Decision-making and Uncertainty},
- year = 2024,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-011}
- }
- 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}
- }
- Suresh, P., Romeres, D., Dosh, P., Jain, S., "Open Human-Robot Collaboration Systems (OHRCS): A Research Perspective", IEEE International Conference on Cognitive Machine Intelligence (CogML 2024), DOI: 10.1109/CogMI62246.2024.00023, October 2024, pp. 103-110.
BibTeX TR2024-150 PDF- @inproceedings{Suresh2024nov,
- author = {Suresh, Prasanth and Romeres, Diego and Dosh, Prashant and Jain, Siddarth},
- title = {{Open Human-Robot Collaboration Systems (OHRCS): A Research Perspective}},
- booktitle = {2024 IEEE 6th International Conference on Cognitive Machine Intelligence (CogMI)},
- year = 2024,
- pages = {103--110},
- month = oct,
- publisher = {IEEE Computer Society},
- doi = {10.1109/CogMI62246.2024.00023},
- url = {https://www.merl.com/publications/TR2024-150}
- }
- Vats, S., Jha, D.K., Likhachev, M., Kroemer, O., Romeres, D., "RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation", arXiv, October 2024.
BibTeX arXiv- @article{Vats2024oct,
- author = {Vats, Shivam and Jha, Devesh K. and Likhachev, Maxim and Kroemer, Oliver and Romeres, Diego},
- title = {{RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation}},
- journal = {arXiv},
- year = 2024,
- month = oct,
- url = {https://arxiv.org/abs/2410.13979}
- }
- Suresh, P., Jain, S., Doshi, P., Romeres, D., "Open Human-Robot Collaboration using Decentralized Inverse Reinforcement Learning", 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), DOI: 10.1109/IROS58592.2024.10801889, October 2024, pp. 7092-7098.
BibTeX TR2024-135 PDF- @inproceedings{Suresh2024oct,
- author = {Suresh, Prasanth and Jain, Siddarth and Doshi, Prashant and Romeres, Diego},
- title = {{Open Human-Robot Collaboration using Decentralized Inverse Reinforcement Learning}},
- booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
- year = 2024,
- pages = {7092--7098},
- month = oct,
- publisher = {IEEE},
- doi = {10.1109/IROS58592.2024.10801889},
- issn = {2153-0866},
- isbn = {979-8-3503-7770-5},
- url = {https://www.merl.com/publications/TR2024-135}
- }
- Dalla Libera, A., Turcato, N., Giacomuzzo, G., Carli, R., Romeres, D., "Learning control of underactuated double pendulum with Model-Based Reinforcement Learning", Competition: AI Olympics With RealAIGym, October 2024.
BibTeX TR2024-142 PDF- @inproceedings{DallaLibera2024oct,
- author = {Dalla Libera, Alberto and Turcato, Niccolò and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego},
- title = {{Learning control of underactuated double pendulum with Model-Based Reinforcement Learning}},
- booktitle = {Competition: AI Olympics With RealAIGym},
- year = 2024,
- month = oct,
- url = {https://www.merl.com/publications/TR2024-142}
- }
- Giacomuzzo, G., Terreran, M., Jain, S., Romeres, D., "DECAF: a Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/IROS58592.2024.10802728, October 2024.
BibTeX TR2024-138 PDF- @inproceedings{Giacomuzzo2024oct,
- author = {Giacomuzzo, Giulio and Terreran, Matteo and Jain, Siddarth and Romeres, Diego},
- title = {{DECAF: a Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly}},
- booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2024,
- month = oct,
- publisher = {IEEE},
- doi = {10.1109/IROS58592.2024.10802728},
- issn = {2153-0866},
- isbn = {979-8-3503-7770-5},
- url = {https://www.merl.com/publications/TR2024-138}
- }
- 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}
- }
- Giacomuzzo, G., Dalla Libera, A., Romeres, D., Carli, R., "A Black-Box Physics-Informed Estimator based on Gaussian Process Regression for Robot Inverse Dynamics Identification", IEEE Transaction on Robotics, DOI: 10.1109/TRO.2024.3474851, pp. 4820-4836, August 2024.
BibTeX TR2024-077 PDF Data Software- @article{Giacomuzzo2024aug2,
- author = {Giacomuzzo, Giulio and Dalla Libera, Alberto and Romeres, Diego and Carli, Ruggero},
- title = {{A Black-Box Physics-Informed Estimator based on Gaussian Process Regression for Robot Inverse Dynamics Identification}},
- journal = {IEEE Transaction on Robotics},
- year = 2024,
- pages = {4820--4836},
- month = aug,
- doi = {10.1109/TRO.2024.3474851},
- issn = {1941-0468},
- url = {https://www.merl.com/publications/TR2024-077}
- }