MERL - Mitsubishi Electric Research Laboratories

Publications

63 / 3,536 publications found.


  •  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), September 2023.
    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,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2023-121}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Contact-Aware Covariance Control of Stochastic Contact-Rich Systems", IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation, September 2023.
    BibTeX TR2023-120 PDF
    • @inproceedings{Shirai2023sep,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {Contact-Aware Covariance Control of Stochastic Contact-Rich Systems},
    • booktitle = {IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation},
    • year = 2023,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2023-120}
    • }
  •  Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning", Robotics: Science and Systems (RSS), July 2023.
    BibTeX TR2023-078 PDF Video
    • @inproceedings{Zhang2023jul,
    • author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
    • title = {Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning},
    • booktitle = {Robotics: Science and Systems (RSS)},
    • year = 2023,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2023-078}
    • }
  •  Raghunathan, A., Bergman, D., Hooker, J., Serra, T., Kobori, S., "Seamless Multimodal Transportation Scheduling", Informs Journal on Computing, June 2023.
    BibTeX TR2023-076 PDF Data
    • @article{Raghunathan2023jun,
    • author = {Raghunathan, Arvind and Bergman, David and Hooker, John and Serra, Thiago and Kobori, Shingo},
    • title = {Seamless Multimodal Transportation Scheduling},
    • journal = {Informs Journal on Computing},
    • year = 2023,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2023-076}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization in Contact-rich Systems", American Control Conference (ACC), May 2023.
    BibTeX TR2023-061 PDF
    • @inproceedings{Shirai2023may4,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Chance-Constrained Optimization in Contact-rich Systems},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-061}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Covariance Steering for Uncertain Contact-Rich Systems", IEEE International Conference on Robotics and Automation (ICRA), May 2023.
    BibTeX TR2023-024 PDF
    • @inproceedings{Shirai2023may3,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {Covariance Steering for Uncertain Contact-Rich Systems},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-024}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Hong, D., "Tactile Tool Manipulation", IEEE International Conference on Robotics and Automation (ICRA), May 2023.
    BibTeX TR2023-023 PDF Video
    • @inproceedings{Shirai2023may2,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Hong, Dennis},
    • title = {Tactile Tool Manipulation},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-023}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Hong, D., "Closed-Loop Tactile Controller for Tool Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.
    BibTeX TR2023-043 PDF
    • @inproceedings{Shirai2023may,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Hong, Dennis},
    • title = {Closed-Loop Tactile Controller for Tool Manipulation},
    • booktitle = {ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-043}
    • }
  •  Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.
    BibTeX TR2023-044 PDF
    • @inproceedings{Zhang2023may3,
    • author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
    • title = {STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation},
    • booktitle = {ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-044}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization", arXiv, March 2023.
    BibTeX arXiv
    • @article{Shirai2023mar,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization},
    • journal = {arXiv},
    • year = 2023,
    • month = mar,
    • url = {https://arxiv.org/abs/2303.08965v1}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "Homogeneous Infeasible Interior Point Method for Convex Quadratic Programs", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC51059.2022.9992979, December 2022, pp. 7571-7578.
    BibTeX TR2022-157 PDF
    • @inproceedings{Raghunathan2022dec,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {Homogeneous Infeasible Interior Point Method for Convex Quadratic Programs},
    • booktitle = {IEEE 61st Conference on Decision and Control (CDC), Cancun, Mexico},
    • year = 2022,
    • pages = {7571--7578},
    • month = dec,
    • doi = {10.1109/CDC51059.2022.9992979},
    • url = {https://www.merl.com/publications/TR2022-157}
    • }
  •  Naito, K., Kitamura, S., Mori, K., Raghunathan, A., Nikovski, D.N., "Power Band Model Based on Flow Network and Weekly Unit Commitment Problem Considering Reserve Market", IEEJ Transactions on Power and Energy, DOI: 10.1541/​ieejpes.142.583, Vol. 142, No. 12, pp. 583-593, December 2022.
    BibTeX J-STAGE
    • @article{Naito2022dec,
    • author = {Naito, Kento and Kitamura, Shoichi and Mori, Kazuyuki and Raghunathan, Arvind and Nikovski, Daniel N.},
    • title = {Power Band Model Based on Flow Network and Weekly Unit Commitment Problem Considering Reserve Market},
    • journal = {IEEJ Transactions on Power and Energy},
    • year = 2022,
    • volume = 142,
    • number = 12,
    • pages = {583--593},
    • month = dec,
    • doi = {10.1541/ieejpes.142.583},
    • url = {https://www.jstage.jst.go.jp/article/ieejpes/142/12/142_583/_article/-char/en/}
    • }
  •  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}
    • }
  •  Raghunathan, A., Cardonha, C., Bergman, D., Nohra, C.J., "Recursive McCormick Linearization of Multilinear Programs", arXiv, July 2022.
    BibTeX arXiv
    • @article{Raghunathan2022jul,
    • author = {Raghunathan, Arvind and Cardonha, Carlos and Bergman, David and Nohra, Carlos J.},
    • title = {Recursive McCormick Linearization of Multilinear Programs},
    • journal = {arXiv},
    • year = 2022,
    • month = jul,
    • url = {https://arxiv.org/abs/2207.08955}
    • }
  •  Zhang, J., Tsiligkaridis, A., Taguchi, H., Raghunathan, A., Nikovski, D.N., "Transformer Networks for Predictive Group Elevator Control", European Control Conference (ECC), DOI: 10.23919/​ECC55457.2022.9838059, July 2022.
    BibTeX TR2022-100 PDF
    • @inproceedings{Zhang2022jul,
    • author = {Zhang, Jing and Tsiligkaridis, Athanasios and Taguchi, Hiroshi and Raghunathan, Arvind and Nikovski, Daniel N.},
    • title = {Transformer Networks for Predictive Group Elevator Control},
    • booktitle = {European Control Conference (ECC)},
    • year = 2022,
    • month = jul,
    • doi = {10.23919/ECC55457.2022.9838059},
    • url = {https://www.merl.com/publications/TR2022-100}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "Python-based Open Source Package for Optimization of Contact-rich Systems", Robotics: Science and Systems, June 2022.
    BibTeX TR2022-089 PDF
    • @inproceedings{Raghunathan2022jun,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {Python-based Open Source Package for Optimization of Contact-rich Systems},
    • booktitle = {Robotics: Science and Systems},
    • year = 2022,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2022-089}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization", RSS Workshop on The Science of Bumping into Things, June 2022.
    BibTeX TR2022-090 PDF Video
    • @inproceedings{Shirai2022jun,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization},
    • booktitle = {RSS Workshop on The Science of Bumping into Things},
    • year = 2022,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2022-090}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA46639.2022.9812069, May 2022.
    BibTeX TR2022-057 PDF Video Software
    • @inproceedings{Raghunathan2022may,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA46639.2022.9812069},
    • isbn = {978-1-7281-9681-7},
    • url = {https://www.merl.com/publications/TR2022-057}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA46639.2022.9811812, May 2022, pp. 992-998.
    BibTeX TR2022-045 PDF Video
    • @inproceedings{Shirai2022may,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • pages = {992--998},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA46639.2022.9811812},
    • url = {https://www.merl.com/publications/TR2022-045}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation", arXiv, DOI: 10.48550/​arXiv.2203.11412, March 2022.
    BibTeX arXiv
    • @article{Shirai2022mar,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation},
    • journal = {arXiv},
    • year = 2022,
    • month = mar,
    • doi = {10.48550/arXiv.2203.11412},
    • url = {https://arxiv.org/abs/2203.02616}
    • }
  •  Nohra, C.J., Raghunathan, A., Sahinidis, N.V., "SDP-quality bounds via convex quadratic relaxations for global optimization of mixed-integer quadratic programs", Mathematical Programming B, DOI: 10.1007/​s10107-021-01680-9, Vol. 196, No. 1-2, pp. 203–233, December 2021.
    BibTeX TR2022-001 PDF
    • @article{Nohra2021dec,
    • author = {Nohra, Carlos J. and Raghunathan, Arvind and Sahinidis, Nikolaos V.},
    • title = {SDP-quality bounds via convex quadratic relaxations for global optimization of mixed-integer quadratic programs},
    • journal = {Mathematical Programming B},
    • year = 2021,
    • volume = 196,
    • number = {1-2},
    • pages = {203–233},
    • month = dec,
    • doi = {10.1007/s10107-021-01680-9},
    • url = {https://www.merl.com/publications/TR2022-001}
    • }
  •  Raghunathan, A., "Homogeneous Formulation of Convex Quadratic Programs for Infeasibility Detection", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC45484.2021.9682847, December 2021, pp. 968-973.
    BibTeX TR2021-150 PDF
    • @inproceedings{Raghunathan2021dec,
    • author = {Raghunathan, Arvind},
    • title = {Homogeneous Formulation of Convex Quadratic Programs for Infeasibility Detection},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2021,
    • pages = {968--973},
    • month = dec,
    • doi = {10.1109/CDC45484.2021.9682847},
    • issn = {2576-2370},
    • isbn = {978-1-6654-3659-5},
    • url = {https://www.merl.com/publications/TR2021-150}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package", arXiv, June 2021.
    BibTeX arXiv
    • @article{Raghunathan2021jun,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {PYROBOCOP: Python-based Robotic Control & Optimization Package},
    • journal = {arXiv},
    • year = 2021,
    • month = jun,
    • url = {https://arxiv.org/abs/2106.03220}
    • }
  •  Jin, S., Romeres, D., Raghunathan, A., Jha, D.K., Tomizuka, M., "Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48506.2021.9561556, June 2021.
    BibTeX TR2021-072 PDF
    • @inproceedings{Jin2021jun,
    • author = {Jin, Shiyu and Romeres, Diego and Raghunathan, Arvind and Jha, Devesh K. and Tomizuka, Masayoshi},
    • title = {Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2021,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48506.2021.9561556},
    • issn = {2577-087X},
    • isbn = {978-1-7281-9077-8},
    • url = {https://www.merl.com/publications/TR2021-072}
    • }
  •  Bergman, David, Huang, Teng, Brooks, Philip, Lodi, Andrea, Raghunathan, Arvind, "JANOS: An Integrated Predictive and Prescriptive Modeling Framework", Tech. Rep. TR2021-025, Mitsubishi Electric Research Laboratories, Cambridge, MA, April 2021.
    BibTeX TR2021-025 PDF
    • @techreport{MERL_TR2021-025,
    • author = {Bergman, David; Huang, Teng; Brooks, Philip; Lodi, Andrea; Raghunathan, Arvind},
    • title = {JANOS: An Integrated Predictive and Prescriptive Modeling Framework},
    • institution = {MERL - Mitsubishi Electric Research Laboratories},
    • address = {Cambridge, MA 02139},
    • number = {TR2021-025},
    • month = apr,
    • year = 2021,
    • url = {https://www.merl.com/publications/TR2021-025/}
    • }
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