Dynamical Systems

Exploiting nonlinearity and shaping dynamics in creative and deeply mathematical ways.

We apply dynamical systems theory in applications ranging from space probe trajectory optimization to elevator suspensions. We also develop fundamental theory and computational methods in fluid dynamics.

  • Quick Links

  • Researchers

  • Awards

    •  AWARD    University of Padua and MERL team wins the AI Olympics with RealAIGym competition at IROS24
      Date: October 17, 2024
      Awarded to: Niccolò Turcato, Alberto Dalla Libera, Giulio Giacomuzzo, Ruggero Carli, Diego Romeres
      MERL Contact: Diego Romeres
      Research Areas: Artificial Intelligence, Dynamical Systems, Machine Learning, Robotics
      Brief
      • The team composed of the control group at the University of Padua and MERL's Optimization and Robotic team ranked 1st out of the 4 finalist teams that arrived to the 2nd AI Olympics with RealAIGym competition at IROS 24, which focused on control of under-actuated robots. The team was composed by Niccolò Turcato, Alberto Dalla Libera, Giulio Giacomuzzo, Ruggero Carli and Diego Romeres. The competition was organized by the German Research Center for Artificial Intelligence (DFKI), Technical University of Darmstadt and Chalmers University of Technology.

        The competition and award ceremony was hosted by IEEE International Conference on Intelligent Robots and Systems (IROS) on October 17, 2024 in Abu Dhabi, UAE. Diego Romeres presented the team's method, based on a model-based reinforcement learning algorithm called MC-PILCO.
    •  
    •  AWARD    MERL’s Paper on Wi-Fi Sensing Earns Top 3% Paper Recognition at ICASSP 2023, Selected as a Best Student Paper Award Finalist
      Date: June 9, 2023
      Awarded to: Cristian J. Vaca-Rubio, Pu Wang, Toshiaki Koike-Akino, Ye Wang, Petros Boufounos and Petar Popovski
      MERL Contacts: Petros T. Boufounos; Toshiaki Koike-Akino; Pu (Perry) Wang; Ye Wang
      Research Areas: Artificial Intelligence, Communications, Computational Sensing, Dynamical Systems, Machine Learning, Signal Processing
      Brief
      • A MERL Paper on Wi-Fi sensing was recognized as a Top 3% Paper among all 2709 accepted papers at the 2023 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP 2023). Co-authored by Cristian Vaca-Rubio and Petar Popovski from Aalborg University, Denmark, and MERL researchers Pu Wang, Toshiaki Koike-Akino, Ye Wang, and Petros Boufounos, the paper "MmWave Wi-Fi Trajectory Estimation with Continous-Time Neural Dynamic Learning" was also a Best Student Paper Award finalist.

        Performed during Cristian’s stay at MERL first as a visiting Marie Skłodowska-Curie Fellow and then as a full-time intern in 2022, this work capitalizes on standards-compliant Wi-Fi signals to perform indoor localization and sensing. The paper uses a neural dynamic learning framework to address technical issues such as low sampling rate and irregular sampling intervals.

        ICASSP, a flagship conference of the IEEE Signal Processing Society (SPS), was hosted on the Greek island of Rhodes from June 04 to June 10, 2023. ICASSP 2023 marked the largest ICASSP in history, boasting over 4000 participants and 6128 submitted papers, out of which 2709 were accepted.
    •  

    See All Awards for MERL

  • News & Events

    •  NEWS    MERL researchers present 7 papers at CDC 2024
      Date: December 16, 2024 - December 19, 2024
      Where: Milan, Italy
      MERL Contacts: Ankush Chakrabarty; Vedang M. Deshpande; Stefano Di Cairano; Abraham P. Vinod; Avishai Weiss; Gordon Wichern
      Research Areas: Artificial Intelligence, Control, Dynamical Systems, Machine Learning, Multi-Physical Modeling, Optimization, Robotics
      Brief
      • MERL researchers presented 7 papers at the recently concluded Conference on Decision and Control (CDC) 2024 in Milan, Italy. The papers covered a wide range of topics including safety shielding for stochastic model predictive control, reinforcement learning using expert observations, physics-constrained meta learning for positioning, variational-Bayes Kalman filtering, Bayesian measurement masks for GNSS positioning, divert-feasible lunar landing, and centering and stochastic control using constrained zonotopes.

        As a sponsor of the conference, MERL maintained a booth for open discussions with researchers and students, and hosted a special session to discuss highlights of MERL research and work philosophy.

        In addition, Ankush Chakrabarty (Principal Research Scientist, Multiphysical Systems Team) was an invited speaker in the pre-conference Workshop on "Learning Dynamics From Data" where he gave a talk on few-shot meta-learning for black-box identification using data from similar systems.
    •  
    •  NEWS    MERL Researchers to Present 2 Conference and 11 Workshop Papers at NeurIPS 2024
      Date: December 10, 2024 - December 15, 2024
      Where: Advances in Neural Processing Systems (NeurIPS)
      MERL Contacts: Petros T. Boufounos; Matthew Brand; Ankush Chakrabarty; Anoop Cherian; François Germain; Toshiaki Koike-Akino; Christopher R. Laughman; Jonathan Le Roux; Jing Liu; Suhas Lohit; Tim K. Marks; Yoshiki Masuyama; Kieran Parsons; Kuan-Chuan Peng; Diego Romeres; Pu (Perry) Wang; Ye Wang; Gordon Wichern
      Research Areas: Artificial Intelligence, Communications, Computational Sensing, Computer Vision, Control, Data Analytics, Dynamical Systems, Machine Learning, Multi-Physical Modeling, Optimization, Robotics, Signal Processing, Speech & Audio, Human-Computer Interaction, Information Security
      Brief
      • MERL researchers will attend and present the following papers at the 2024 Advances in Neural Processing Systems (NeurIPS) Conference and Workshops.

        1. "RETR: Multi-View Radar Detection Transformer for Indoor Perception" by Ryoma Yataka (Mitsubishi Electric), Adriano Cardace (Bologna University), Perry Wang (Mitsubishi Electric Research Laboratories), Petros Boufounos (Mitsubishi Electric Research Laboratories), Ryuhei Takahashi (Mitsubishi Electric). Main Conference. https://neurips.cc/virtual/2024/poster/95530

        2. "Evaluating Large Vision-and-Language Models on Children's Mathematical Olympiads" by Anoop Cherian (Mitsubishi Electric Research Laboratories), Kuan-Chuan Peng (Mitsubishi Electric Research Laboratories), Suhas Lohit (Mitsubishi Electric Research Laboratories), Joanna Matthiesen (Math Kangaroo USA), Kevin Smith (Massachusetts Institute of Technology), Josh Tenenbaum (Massachusetts Institute of Technology). Main Conference, Datasets and Benchmarks track. https://neurips.cc/virtual/2024/poster/97639

        3. "Probabilistic Forecasting for Building Energy Systems: Are Time-Series Foundation Models The Answer?" by Young-Jin Park (Massachusetts Institute of Technology), Jing Liu (Mitsubishi Electric Research Laboratories), François G Germain (Mitsubishi Electric Research Laboratories), Ye Wang (Mitsubishi Electric Research Laboratories), Toshiaki Koike-Akino (Mitsubishi Electric Research Laboratories), Gordon Wichern (Mitsubishi Electric Research Laboratories), Navid Azizan (Massachusetts Institute of Technology), Christopher R. Laughman (Mitsubishi Electric Research Laboratories), Ankush Chakrabarty (Mitsubishi Electric Research Laboratories). Time Series in the Age of Large Models Workshop.

        4. "Forget to Flourish: Leveraging Model-Unlearning on Pretrained Language Models for Privacy Leakage" by Md Rafi Ur Rashid (Penn State University), Jing Liu (Mitsubishi Electric Research Laboratories), Toshiaki Koike-Akino (Mitsubishi Electric Research Laboratories), Shagufta Mehnaz (Penn State University), Ye Wang (Mitsubishi Electric Research Laboratories). Workshop on Red Teaming GenAI: What Can We Learn from Adversaries?

        5. "Spatially-Aware Losses for Enhanced Neural Acoustic Fields" by Christopher Ick (New York University), Gordon Wichern (Mitsubishi Electric Research Laboratories), Yoshiki Masuyama (Mitsubishi Electric Research Laboratories), François G Germain (Mitsubishi Electric Research Laboratories), Jonathan Le Roux (Mitsubishi Electric Research Laboratories). Audio Imagination Workshop.

        6. "FV-NeRV: Neural Compression for Free Viewpoint Videos" by Sorachi Kato (Osaka University), Takuya Fujihashi (Osaka University), Toshiaki Koike-Akino (Mitsubishi Electric Research Laboratories), Takashi Watanabe (Osaka University). Machine Learning and Compression Workshop.

        7. "GPT Sonography: Hand Gesture Decoding from Forearm Ultrasound Images via VLM" by Keshav Bimbraw (Worcester Polytechnic Institute), Ye Wang (Mitsubishi Electric Research Laboratories), Jing Liu (Mitsubishi Electric Research Laboratories), Toshiaki Koike-Akino (Mitsubishi Electric Research Laboratories). AIM-FM: Advancements In Medical Foundation Models: Explainability, Robustness, Security, and Beyond Workshop.

        8. "Smoothed Embeddings for Robust Language Models" by Hase Ryo (Mitsubishi Electric), Md Rafi Ur Rashid (Penn State University), Ashley Lewis (Ohio State University), Jing Liu (Mitsubishi Electric Research Laboratories), Toshiaki Koike-Akino (Mitsubishi Electric Research Laboratories), Kieran Parsons (Mitsubishi Electric Research Laboratories), Ye Wang (Mitsubishi Electric Research Laboratories). Safe Generative AI Workshop.

        9. "Slaying the HyDRA: Parameter-Efficient Hyper Networks with Low-Displacement Rank Adaptation" by Xiangyu Chen (University of Kansas), Ye Wang (Mitsubishi Electric Research Laboratories), Matthew Brand (Mitsubishi Electric Research Laboratories), Pu Wang (Mitsubishi Electric Research Laboratories), Jing Liu (Mitsubishi Electric Research Laboratories), Toshiaki Koike-Akino (Mitsubishi Electric Research Laboratories). Workshop on Adaptive Foundation Models.

        10. "Preference-based Multi-Objective Bayesian Optimization with Gradients" by Joshua Hang Sai Ip (University of California Berkeley), Ankush Chakrabarty (Mitsubishi Electric Research Laboratories), Ali Mesbah (University of California Berkeley), Diego Romeres (Mitsubishi Electric Research Laboratories). Workshop on Bayesian Decision-Making and Uncertainty. Lightning talk spotlight.

        11. "TR-BEACON: Shedding Light on Efficient Behavior Discovery in High-Dimensions with Trust-Region-based Bayesian Novelty Search" by Wei-Ting Tang (Ohio State University), Ankush Chakrabarty (Mitsubishi Electric Research Laboratories), Joel A. Paulson (Ohio State University). Workshop on Bayesian Decision-Making and Uncertainty.

        12. "MEL-PETs Joint-Context Attack for the NeurIPS 2024 LLM Privacy Challenge Red Team Track" by Ye Wang (Mitsubishi Electric Research Laboratories), Tsunato Nakai (Mitsubishi Electric), Jing Liu (Mitsubishi Electric Research Laboratories), Toshiaki Koike-Akino (Mitsubishi Electric Research Laboratories), Kento Oonishi (Mitsubishi Electric), Takuya Higashi (Mitsubishi Electric). LLM Privacy Challenge. Special Award for Practical Attack.

        13. "MEL-PETs Defense for the NeurIPS 2024 LLM Privacy Challenge Blue Team Track" by Jing Liu (Mitsubishi Electric Research Laboratories), Ye Wang (Mitsubishi Electric Research Laboratories), Toshiaki Koike-Akino (Mitsubishi Electric Research Laboratories), Tsunato Nakai (Mitsubishi Electric), Kento Oonishi (Mitsubishi Electric), Takuya Higashi (Mitsubishi Electric). LLM Privacy Challenge. Won 3rd Place Award.

        MERL members also contributed to the organization of the Multimodal Algorithmic Reasoning (MAR) Workshop (https://marworkshop.github.io/neurips24/). Organizers: Anoop Cherian (Mitsubishi Electric Research Laboratories), Kuan-Chuan Peng (Mitsubishi Electric Research Laboratories), Suhas Lohit (Mitsubishi Electric Research Laboratories), Honglu Zhou (Salesforce Research), Kevin Smith (Massachusetts Institute of Technology), Tim K. Marks (Mitsubishi Electric Research Laboratories), Juan Carlos Niebles (Salesforce AI Research), Petar Veličković (Google DeepMind).
    •  

    See All News & Events for Dynamical Systems

  • Internships

    • CA0148: Internship - Motion Planning and Control for Autonomous Articulated Vehicles

      MERL is seeking an outstanding intern to collaborate in the development of motion planning and control for autonomous articulated vehicles. The ideal candidate is expected to be working towards a PhD in electrical, mechanical, aerospace engineering, robotics, control or related areas, with a strong emphasis on motion planning and control, possibly with applications to ground vehicles, to have experience in at least some of path/motion planning algorithms (A*, D*, graph-search) and optimization-based control (e.g., model predictive control), to have excellent coding skills in MATLAB/Simulink and a strong publication record. The expected start date is the Spring/Early Summer 2025 and the expected duration is 6-9 months, depending on candidate availability and interests.

      Required Specific Experience

      • Path/motion planning algorithms (A*, D*, graph-search)
      • Nonlinear model predictive control
      • Programming in Matlab/Simulink
      • Applications to mobile robots or vehicles

      Additional Useful Experience

      • Nonlinear MPC Design in CasADi
      • Code generation tools and dSPACE
      • Applications to autonomous vehicles and articulated vehicles

    • ST0105: Internship - Surrogate Modeling for Sound Propagation

      MERL is seeking a motivated and qualified individual to work on fast surrogate models for sound emission and propagation from complex vibrating structures, with applications in HVAC noise reduction. The ideal candidate will be a PhD student in engineering or related fields with a solid background in frequency-domain acoustic modeling and numerical techniques for partial differential equations (PDEs). Preferred skills include knowledge of the boundary element method (BEM), data-driven modeling, and physics-informed machine learning. Publication of the results obtained during the internship is expected. The duration is expected to be at least 3 months with a flexible start date.


    See All Internships for Dynamical Systems

  • Openings


    See All Openings at MERL

  • Recent Publications

    •  Giammarino, V., Queeney, J., Paschalidis, I.C., "Visually Robust Adversarial Imitation Learning from Videos with Contrastive Learning", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
      BibTeX TR2025-065 PDF
      • @inproceedings{Giammarino2025may,
      • author = {Giammarino, Vittorio and Queeney, James and Paschalidis, Ioannis Ch.},
      • title = {{Visually Robust Adversarial Imitation Learning from Videos with Contrastive Learning}},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2025,
      • month = may,
      • url = {https://www.merl.com/publications/TR2025-065}
      • }
    •  Zhou, Z., Di Cairano, S., Wang, Y., Berntorp, K., "Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
      BibTeX TR2025-063 PDF
      • @inproceedings{Zhou2025may,
      • author = {Zhou, Ziyi and {Di Cairano}, Stefano and Wang, Yebin and Berntorp, Karl},
      • title = {{Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion}},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2025,
      • month = may,
      • url = {https://www.merl.com/publications/TR2025-063}
      • }
    •  Lin, C., Boufounos, P.T., Ma, Y., Wang, Y., Ding, Q., Sels, D., Chien, C.-C., "Time-optimal single-scalar control on a qubit of unitary dynamics", Physical Review, April 2025.
      BibTeX TR2025-048 PDF
      • @article{Lin2025apr2,
      • author = {Lin, Chungwei and Boufounos, Petros T. and Ma, Yanting and Wang, Yebin and Ding, Qi and Sels, Dries and Chien, Chih-Chun},
      • title = {{Time-optimal single-scalar control on a qubit of unitary dynamics}},
      • journal = {Physical Review},
      • year = 2025,
      • month = apr,
      • url = {https://www.merl.com/publications/TR2025-048}
      • }
    •  Vinod, A.P., Weiss, A., Di Cairano, S., "Projection-free computation of robust controllable sets with constrained zonotopes", Automatica, DOI: 10.1016/​j.automatica.2025.112211, Vol. 175, pp. 112211, March 2025.
      BibTeX TR2025-023 PDF Video
      • @article{Vinod2025mar,
      • author = {Vinod, Abraham P. and Weiss, Avishai and Di Cairano, Stefano},
      • title = {{Projection-free computation of robust controllable sets with constrained zonotopes}},
      • journal = {Automatica},
      • year = 2025,
      • volume = 175,
      • pages = 112211,
      • month = mar,
      • doi = {10.1016/j.automatica.2025.112211},
      • issn = {0005-1098},
      • url = {https://www.merl.com/publications/TR2025-023}
      • }
    •  Cai, X., Queeney, J., Xu, T., Datar, A., Pan, C., Miller, M., Flather, A., Osteen, P.R., Roy, N., Xiao, X., How, J.P., "PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain", IEEE Robotics and Automation Letters (RA-L), DOI: 10.1109/​LRA.2025.3527285, Vol. 10, No. 3, pp. 2359-2366, February 2025.
      BibTeX TR2025-022 PDF
      • @article{Cai2025feb,
      • author = {Cai, Xiaoyi and Queeney, James and Xu, Tong and Datar, Aniket and Pan, Chenhui and Miller, Max and Flather, Ashton and Osteen, Philip R. and Roy, Nicholas and Xiao, Xuesu and How, Jonathan P.},
      • title = {{PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain}},
      • journal = {IEEE Robotics and Automation Letters (RA-L)},
      • year = 2025,
      • volume = 10,
      • number = 3,
      • pages = {2359--2366},
      • month = feb,
      • doi = {10.1109/LRA.2025.3527285},
      • url = {https://www.merl.com/publications/TR2025-022}
      • }
    •  Queeney, J., Paschalidis, I.C., Cassandras, C.G., "Generalized Policy Improvement Algorithms with Theoretically Supported Sample Reuse", IEEE Transactions on Automatic Control, DOI: 10.1109/​TAC.2024.3454011, Vol. 70, No. 2, pp. 1236-1243, February 2025.
      BibTeX TR2025-015 PDF
      • @article{Queeney2025feb,
      • author = {Queeney, James and Paschalidis, Ioannis Ch. and Cassandras, Christos G.},
      • title = {{Generalized Policy Improvement Algorithms with Theoretically Supported Sample Reuse}},
      • journal = {IEEE Transactions on Automatic Control},
      • year = 2025,
      • volume = 70,
      • number = 2,
      • pages = {1236--1243},
      • month = feb,
      • doi = {10.1109/TAC.2024.3454011},
      • url = {https://www.merl.com/publications/TR2025-015}
      • }
    •  Vinod, A.P., Safaoui, S., Summers, T., Yoshikawa, N., Di Cairano, S., "Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3433229, Vol. 32, No. 6, pp. 2492-2499, January 2025.
      BibTeX TR2024-136 PDF
      • @article{Vinod2025jan,
      • author = {Vinod, Abraham P. and Safaoui, Sleiman and Summers, Tyler and Yoshikawa, Nobuyuki and {Di Cairano}, Stefano},
      • title = {{Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning}},
      • journal = {IEEE Transactions on Control Systems Technology},
      • year = 2025,
      • volume = 32,
      • number = 6,
      • pages = {2492--2499},
      • month = jan,
      • doi = {10.1109/TCST.2024.3433229},
      • url = {https://www.merl.com/publications/TR2024-136}
      • }
    •  Greiff, M., Sinhmar, H., Weiss, A., Berntorp, K., Di Cairano, S., "Invariant Set Planning for Quadrotors: Design, Analysis, Experiments", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3492813, Vol. 33, No. 2, pp. 449-462, January 2025.
      BibTeX TR2025-010 PDF
      • @article{Greiff2025jan,
      • author = {Greiff, Marcus and Sinhmar, Himani and Weiss, Avishai and Berntorp, Karl and {Di Cairano}, Stefano},
      • title = {{Invariant Set Planning for Quadrotors: Design, Analysis, Experiments}},
      • journal = {IEEE Transactions on Control Systems Technology},
      • year = 2025,
      • volume = 33,
      • number = 2,
      • pages = {449--462},
      • month = jan,
      • doi = {10.1109/TCST.2024.3492813},
      • issn = {1063-6536},
      • url = {https://www.merl.com/publications/TR2025-010}
      • }
    See All Publications for Dynamical Systems

  • Videos

  • Software & Data Downloads