Publications

28 / 2,936 publications found.


  •  Jha, D., Wang, Y., Zhu, M., "Sampling-based Algorithms for Feedback Motion Planning", arXiv, June 2020.
    BibTeX
    • @article{Jha2020jun,
    • author = {Jha, Devesh and Wang, Yebin and Zhu, Minghui},
    • title = {Sampling-based Algorithms for Feedback Motion Planning},
    • journal = {arXiv},
    • year = 2020,
    • month = jun
    • }
  •  Ota, K., Oiki, T., Jha, D., Mariyama, T., Nikovski, D.N., "Can Increasing Input Dimensionality Improve Deep Reinforcement Learning?", International Conference on Machine Learning (ICML), June 2020.
    BibTeX TR2020-083 PDF Software
    • @inproceedings{Ota2020jun,
    • author = {Ota, Kei and Oiki, Tomoaki and Jha, Devesh 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,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2020-083}
    • }
  •  Jha, D., 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 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}
    • }
  •  Romeres, D., Dalla Libera, A., Jha, D., 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 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}
    • }
  •  Kojima, K., TaherSima, M., Koike-Akino, T., Jha, D., Tang, Y., Parsons, K., Sang, F., Klamkin, J., "Deep Neural Networks for Designing Integrated Photonics", Optical Fiber Communication Conference and Exposition (OFC), DOI: 10.1364/OFC.2020.Th1A.6, March 2020.
    BibTeX TR2020-057 PDF
    • @inproceedings{Kojima2020mar,
    • author = {Kojima, Keisuke and TaherSima, Mohammad and Koike-Akino, Toshiaki and Jha, Devesh and Tang, Yingheng and Parsons, Kieran and Sang, Fengqiao and Klamkin, Jonathan},
    • title = {Deep Neural Networks for Designing Integrated Photonics},
    • booktitle = {Optical Fiber Communication Conference and Exposition (OFC)},
    • year = 2020,
    • month = mar,
    • publisher = {OSA},
    • doi = {10.1364/OFC.2020.Th1A.6},
    • isbn = {978-1-943580-71-2},
    • url = {https://www.merl.com/publications/TR2020-057}
    • }
  •  Tang, Y., Kojima, K., Koike-Akino, T., Wang, Y., Wu, P., TaherSima, M., Jha, D., Parsons, K., Qi, M., "Generative Deep Learning Model for a Multi-level NanoOptic Broadband Power Splitter", Optical Fiber Communication Conference and Exposition (OFC), DOI: 10.1364/OFC.2020.Th1A.1, March 2020, pp. Th1A.1.
    BibTeX TR2020-025 PDF
    • @inproceedings{Tang2020mar,
    • author = {Tang, Yingheng and Kojima, Keisuke and Koike-Akino, Toshiaki and Wang, Ye and Wu, Pengxiang and TaherSima, Mohammad and Jha, Devesh and Parsons, Kieran and Qi, Minghao},
    • title = {Generative Deep Learning Model for a Multi-level NanoOptic Broadband Power Splitter},
    • booktitle = {Optical Fiber Communication Conference and Exposition (OFC)},
    • year = 2020,
    • pages = {Th1A.1},
    • month = mar,
    • publisher = {OSA},
    • doi = {10.1364/OFC.2020.Th1A.1},
    • isbn = {978-1-943580-71-2},
    • url = {https://www.merl.com/publications/TR2020-025}
    • }
  •  Romeres, D., Dalla Libera, A., Jha, D., Yerazunis, W.S., Nikovski, D.N., "Model-Based Reinforcement Learning for Physical Systems Without Velocity and Acceleration Measurements", arXiv, DOI: 10.1109/LRA.2020.2977255, February 2020.
    BibTeX arXiv
    • @article{Romeres2020feb,
    • author = {Romeres, Diego and Dalla Libera, Alberto and Jha, Devesh and Yerazunis, William S. and Nikovski, Daniel N.},
    • title = {Model-Based Reinforcement Learning for Physical Systems Without Velocity and Acceleration Measurements},
    • journal = {arXiv},
    • year = 2020,
    • month = feb,
    • doi = {10.1109/LRA.2020.2977255},
    • issn = {2377-3766},
    • url = {https://arxiv.org/abs/2002.10621}
    • }
  •  Jha, D., 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 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., 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 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 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., 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 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}
    • }
  •  Zhang, W., Jha, D., Laftchiev, E., Nikovski, D.N., "Multi-label Prediction in Time Series Data using Deep Neural Networks", International Journal for Prognostics and Health Management Special Issue on Applications of Deep Learning and Emerging Analytics, Vol. 10, pp. 0-12, September 2019.
    BibTeX TR2019-110 PDF
    • @article{Zhang2019sep2,
    • author = {Zhang, Wenyu and Jha, Devesh and Laftchiev, Emil and Nikovski, Daniel N.},
    • title = {Multi-label Prediction in Time Series Data using Deep Neural Networks},
    • journal = {International Journal for Prognostics and Health Management Special Issue on Applications of Deep Learning and Emerging Analytics},
    • year = 2019,
    • volume = 10,
    • pages = {0--12},
    • month = sep,
    • note = {Special Issue on Deep Learning and Emerging Analytics},
    • issn = {2153-2648},
    • url = {https://www.merl.com/publications/TR2019-110}
    • }
  •  Chakrabarty, A., Jha, D., Wang, Y., "Data-Driven Control Policies for Partially Known Systems via Kernelized Lipschitz Learning", American Control Conference (ACC), DOI: 10.23919/ACC.2019.8815325, July 2019, pp. 4192-4197.
    BibTeX TR2019-047 PDF
    • @inproceedings{Chakrabarty2019jul,
    • author = {Chakrabarty, Ankush and Jha, Devesh and Wang, Yebin},
    • title = {Data-Driven Control Policies for Partially Known Systems via Kernelized Lipschitz Learning},
    • booktitle = {American Control Conference (ACC)},
    • year = 2019,
    • pages = {4192--4197},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ACC.2019.8815325},
    • url = {https://www.merl.com/publications/TR2019-047}
    • }
  •  Chakrabarty, A., Jha, D., Buzzard, G.T., Wang, Y., Vamvoudakis, K., "Safe Approximate Dynamic Programming Via Kernelized Lipschitz Estimation", arXiv, July 2019.
    BibTeX arXiv
    • @article{Chakrabarty2019jul2,
    • author = {Chakrabarty, Ankush and Jha, Devesh and Buzzard, Gregery T. and Wang, Yebin and Vamvoudakis, Kyriakos},
    • title = {Safe Approximate Dynamic Programming Via Kernelized Lipschitz Estimation},
    • journal = {arXiv},
    • year = 2019,
    • month = jul,
    • url = {https://arxiv.org/abs/1907.02151}
    • }
  •  Romeres, D., Jha, D., 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 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}
    • }
  •  Raghunathan, A., Cherian, A., Jha, D., "Game Theoretic Optimization via Gradient-based Nikaido-Isoda Function", International Conference on Machine Learning (ICML), Lawrence, N. and Reid, M., Eds., June 2019, pp. 5291-5300.
    BibTeX TR2019-045 PDF Software
    • @inproceedings{Raghunathan2019jun,
    • author = {Raghunathan, Arvind and Cherian, Anoop and Jha, Devesh},
    • title = {Game Theoretic Optimization via Gradient-based Nikaido-Isoda Function},
    • booktitle = {International Conference on Machine Learning (ICML)},
    • year = 2019,
    • editor = {Lawrence, N. and Reid, M.},
    • pages = {5291--5300},
    • month = jun,
    • publisher = {PMLR},
    • issn = {2640-3498},
    • url = {https://www.merl.com/publications/TR2019-045}
    • }
  •  Romeres, D., Jha, D., 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
    • @inproceedings{Romeres2019may,
    • author = {Romeres, Diego and Jha, Devesh 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}
    • }
  •  van Baar, J., Sullivan, A., Corcodel, R., Jha, D., Romeres, D., Nikovski, D.N., "Sim-to-Real Transfer Learning using Robustified Controllers in Robotic Tasks involving Complex Dynamics", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA.2019.8793561, May 2019, pp. 6001-6007.
    BibTeX TR2018-202 PDF
    • @inproceedings{vanBaar2019may,
    • author = {van Baar, Jeroen and Sullivan, Alan and Corcodel, Radu and Jha, Devesh and Romeres, Diego and Nikovski, Daniel N.},
    • title = {Sim-to-Real Transfer Learning using Robustified Controllers in Robotic Tasks involving Complex Dynamics},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2019,
    • pages = {6001--6007},
    • month = may,
    • doi = {10.1109/ICRA.2019.8793561},
    • url = {https://www.merl.com/publications/TR2018-202}
    • }
  •  TaherSima, M., Kojima, K., Koike-Akino, T., Jha, D., Wang, B., Lin, C., Parsons, K., "Nanostructured Photonic Power Splitter Design via Convolutional Neural Networks", Conference on Lasers and Electro-Optics (CLEO), DOI: 10.1364/CLEO_SI.2019.SW4J.6, May 2019.
    BibTeX TR2019-027 PDF
    • @inproceedings{TaherSima2019may,
    • author = {TaherSima, Mohammad and Kojima, Keisuke and Koike-Akino, Toshiaki and Jha, Devesh and Wang, Bingnan and Lin, Chungwei and Parsons, Kieran},
    • title = {Nanostructured Photonic Power Splitter Design via Convolutional Neural Networks},
    • booktitle = {Conference on Lasers and Electro-Optics (CLEO)},
    • year = 2019,
    • month = may,
    • publisher = {Optical Society of America},
    • doi = {10.1364/CLEO_SI.2019.SW4J.6},
    • url = {https://www.merl.com/publications/TR2019-027}
    • }
  •  TaherSima, M., Kojima, K., Koike-Akino, T., Jha, D., Wang, B., Lin, C., Parsons, K., "Deep Neural Network Inverse Modeling for Integrated Photonics", Optical Fiber Communication Conference and Exposition and the National Fiber Optic Engineers Conference (OFC/NFOEC), DOI: 10.1364/OFC.2019.W3B.5, March 2019.
    BibTeX TR2018-183 PDF
    • @inproceedings{TaherSima2019mar,
    • author = {TaherSima, Mohammad and Kojima, Keisuke and Koike-Akino, Toshiaki and Jha, Devesh and Wang, Bingnan and Lin, Chungwei and Parsons, Kieran},
    • title = {Deep Neural Network Inverse Modeling for Integrated Photonics},
    • booktitle = {Optical Fiber Communication Conference and Exposition and the National Fiber Optic Engineers Conference (OFC/NFOEC)},
    • year = 2019,
    • month = mar,
    • doi = {10.1364/OFC.2019.W3B.5},
    • url = {https://www.merl.com/publications/TR2018-183}
    • }
  •  TaherSima, M., Kojima, K., Koike-Akino, T., Jha, D., Wang, B., Lin, C., Parsons, K., "Deep Neural Network Inverse Design of Integrated Photonic Power Splitters", Nature Scientific Reports, December 2018.
    BibTeX TR2018-180 PDF
    • @article{TaherSima2018dec,
    • author = {TaherSima, Mohammad and Kojima, Keisuke and Koike-Akino, Toshiaki and Jha, Devesh and Wang, Bingnan and Lin, Chungwei and Parsons, Kieran},
    • title = {Deep Neural Network Inverse Design of Integrated Photonic Power Splitters},
    • journal = {Nature Scientific Reports},
    • year = 2018,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2018-180}
    • }
  •  Romeres, D.., Jha, D., 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 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}
    • }
  •  Jha, D.K., Romeres, D., van Baar, J., Sullivan, A., Nikovski, D.N., "Learning Tasks in a Complex Circular Maze Environment", NIPS Workshop on Modeling the Physical World: Perception, Learning, and Control, December 2018.
    BibTeX TR2018-169 PDF
    • @inproceedings{vanBaar2018dec,
    • author = {Jha, Devesh K. and Romeres, Diego and van Baar, Jeroen and Sullivan, Alan and Nikovski, Daniel N.},
    • title = {Learning Tasks in a Complex Circular Maze Environment},
    • booktitle = {NIPS Workshop on Modeling the Physical World: Perception, Learning, and Control},
    • year = 2018,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2018-169}
    • }
  •  Jha, D., "Algorithms for Task Allocation in Homogeneous Swarm of Robots", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/IROS.2018.8594052, October 2018.
    BibTeX TR2018-151 PDF
    • @inproceedings{Jha2018oct,
    • author = {Jha, Devesh},
    • title = {Algorithms for Task Allocation in Homogeneous Swarm of Robots},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2018,
    • month = oct,
    • doi = {10.1109/IROS.2018.8594052},
    • url = {https://www.merl.com/publications/TR2018-151}
    • }
  •  van Baar, J., Corcodel, R., Sullivan, A., Jha, D., Romeres, D., Nikovski, D.N., "Simulation to Real Transfer Learning with Robustified Policies for Robot Tasks", arXiv, September 2018.
    BibTeX arXiv
    • @article{vanBaar2018sep,
    • author = {van Baar, Jeroen and Corcodel, Radu and Sullivan, Alan and Jha, Devesh and Romeres, Diego and Nikovski, Daniel N.},
    • title = {Simulation to Real Transfer Learning with Robustified Policies for Robot Tasks},
    • journal = {arXiv},
    • year = 2018,
    • month = sep,
    • url = {https://arxiv.org/abs/1809.04720}
    • }