Robotics
Where hardware, software and machine intelligence come together.
Our research is interdisciplinary and focuses on sensing, planning, reasoning, and control of single and multi-agent systems, including both manipulation and mobile robots. We strive to develop algorithms and methods for factory automation, smart building and transportation applications using machine learning, computer vision, RF/optical sensing, wireless communications, control theory and signal processing. Key research themes include bin picking and object manipulation, sensing and mapping of indoor areas, coordinated control of robot swarms, as well as robot learning and simulation.
Quick Links
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Researchers
Devesh K.
Jha
Daniel N.
Nikovski
Diego
Romeres
Mouhacine
Benosman
Stefano
Di Cairano
Arvind
Raghunathan
Yebin
Wang
William S.
Yerazunis
Toshiaki
Koike-Akino
Karl
Berntorp
Scott A.
Bortoff
Radu
Corcodel
Tim K.
Marks
Matthew E.
Brand
Siddarth
Jain
Uroš
Kalabić
Alan
Sullivan
Bingnan
Wang
Ye
Wang
Avishai
Weiss
Jianlin
Guo
Jonathan
Le Roux
Philip V.
Orlik
Ronald N.
Perry
Rien
Quirynen
Koon Hoo
Teo
Varun
Haritsa
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Awards
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AWARD MERL Researcher Devesh Jha Wins the Rudolf Kalman Best Paper Award 2019 Date: October 10, 2019
Awarded to: Devesh Jha, Nurali Virani, Zhenyuan Yuan, Ishana Shekhawat and Asok Ray
MERL Contact: Devesh K. Jha
Research Areas: Artificial Intelligence, Control, Data Analytics, Machine Learning, RoboticsBrief- MERL researcher Devesh Jha has won the Rudolf Kalman Best Paper Award 2019 for the paper entitled "Imitation of Demonstrations Using Bayesian Filtering With Nonparametric Data-Driven Models". This paper, published in a Special Commemorative Issue for Rudolf E. Kalman in the ASME JDSMC in March 2018, uses Bayesian filtering for imitation learning in Hidden Mode Hybrid Systems. This award is given annually by the Dynamic Systems and Control Division of ASME to the authors of the best paper published in the ASME Journal of Dynamic Systems Measurement and Control during the preceding year.
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News & Events
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NEWS Diego Romeres appointed as Associate Editor at ICRA 2022. Date: September 17, 2021 - October 31, 2021
MERL Contact: Diego Romeres
Research Areas: Artificial Intelligence, Control, Data Analytics, Dynamical Systems, Optimization, RoboticsBrief- Diego Romeres, a Principal Research Scientist in MERL's Data Analytics group, is serving as an Associate Editor (AE) for the IEEE International Conference on Robotics and Automation (ICRA) 2022.
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NEWS Anthony Vetro delivers keynote on robotic manipulation at inaugural IEEE Conference on Autonomous Systems Date: August 12, 2021
MERL Contact: Anthony Vetro
Research Areas: Artificial Intelligence, Computer Vision, Control, Dynamical Systems, Machine Learning, Optimization, RoboticsBrief- Anthony Vetro gave a keynote at the inaugural IEEE Conference on Autonomous Systems (ICAS), which was held virtually from August 11-13, 2021. The talk focused on challenges and recent progress in the area of robotic manipulation. The conference is sponsored by IEEE Signal Processing Society (SPS) through the SPS Autonomous Systems Initiative.
Abstract: Human-level manipulation continues to be beyond the capabilities of today’s robotic systems. Not only do current industrial robots require significant time to program a specific task, but they lack the flexibility to generalize to other tasks and be robust to changes in the environment. While collaborative robots help to reduce programming effort and improve the user interface, they still fall short on generalization and robustness. This talk will highlight recent advances in a number of key areas to improve the manipulation capabilities of autonomous robots, including methods to accurately model the dynamics of the robot and contact forces, sensors and signal processing algorithms to provide improved perception, optimization-based decision-making and control techniques, as well as new methods of interactivity to accelerate and enhance robot learning.
- Anthony Vetro gave a keynote at the inaugural IEEE Conference on Autonomous Systems (ICAS), which was held virtually from August 11-13, 2021. The talk focused on challenges and recent progress in the area of robotic manipulation. The conference is sponsored by IEEE Signal Processing Society (SPS) through the SPS Autonomous Systems Initiative.
See All News & Events for Robotics -
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Internships
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MD1697: Integrated design of mechatronic systems
MERL is seeking a highly motivated and qualified individual to conduct research in model-based mechatronic system design. The ideal candidate should have solid backgrounds in motor and drives, multi-body dynamics, design optimization, and coding skills. Demonstrated experience on hand-on mechatronic system integration, and simulation/optimization software such as Matlab is a necessity. Ph.D. students in mechanical engineering, robotics, and electrical engineering are encouraged to apply. Start date for this internship is flexible and the duration is about 3 months. This internship is preferred to be onsite at MERL, but may be done remotely where you live if the COVID pandemic makes it necessary.
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DA1687: Unconventional robotic manipulation
We are seeking a student interested in robotics, specifically in the areas of tactile sensing, impulse-based (non-prehensile) object manipulation, or other unconventional robotic manipulation, probably with vision assist. The ideal result is a working demo leading to an accepted paper. Applicants should be rising college seniors or graduate students in STEM; prior mechatronics, CAD/CAM, machine vision / machine learning, Python, and open-source development experience is very desirable. The position is immediately available with an expected duration of 3-4 months. This internship requires work that can only be done at MERL.
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MD1694: Path Planning for Articulated Vehicles
MERL is seeking a highly skilled and self-motivated intern to work on path/motion planning of articulated vehicles.
The ideal candidate should have solid backgrounds in path/motion planning, nonlinear geometric control theory, and machine learning. Excellent coding skill and strong publication records are necessary. Senior Ph.D. students in control, electrical engineering, robotics, or related areas are encouraged to apply. Start date for this internship is flexible, and the expected duration is about 3 months. This internship is preferred to be onsite at MERL, but may be done remotely where you live if the COVID pandemic makes it necessary.
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Openings
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Recent Publications
- , "Model-Based Reinforcement Learning Using Monte Carlo Gradient Estimation", Automatica.it, September 2021.BibTeX TR2021-108 PDF
- @inproceedings{Amadio2021sep,
- author = {Amadio, Fabio and Dalla Libera, Alberto and Carli, Ruggero and Romeres, Diego},
- title = {Model-Based Reinforcement Learning Using Monte Carlo Gradient Estimation},
- booktitle = {Automatica.it},
- year = 2021,
- month = sep,
- url = {https://www.merl.com/publications/TR2021-108}
- }
- , "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}
- }
- , "Robotic Applications of Mechanical Metamaterials Produced Using SLA 3D Printing: Cthulhu-Morphic Grippers", Solid Freeform Fabrication Symposium, August 2021.BibTeX TR2021-088 PDF
- @inproceedings{Solomon2021aug,
- author = {Solomon, E. and Yerazunis, William S.},
- title = {Robotic Applications of Mechanical Metamaterials Produced Using SLA 3D Printing: Cthulhu-Morphic Grippers},
- booktitle = {Solid Freeform Fabrication Symposium},
- year = 2021,
- month = aug,
- url = {https://www.merl.com/publications/TR2021-088}
- }
- , "Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models", European Control Conference (ECC), June 2021.BibTeX TR2021-068 PDF
- @inproceedings{DallaLibera2021jun,
- author = {Dalla Libera, Alberto and Amadio, Fabio and Nikovski, Daniel N. and Carli, Ruggero and Romeres, Diego},
- title = {Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models},
- booktitle = {European Control Conference (ECC)},
- year = 2021,
- month = jun,
- url = {https://www.merl.com/publications/TR2021-068}
- }
- , "Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units", IEEE International Conference on Robotics and Automation (ICRA), 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,
- url = {https://www.merl.com/publications/TR2021-072}
- }
- , "Long-Horizon Motion Planning for Autonomous Vehicle Parking Incorporating Incomplete Map Information", IEEE International Conference on Robotics and Automation (ICRA), May 2021.BibTeX TR2021-062 PDF
- @inproceedings{Dai2021may,
- author = {Dai, Siyu and Wang, Yebin},
- title = {Long-Horizon Motion Planning for Autonomous Vehicle Parking Incorporating Incomplete Map Information},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2021,
- month = may,
- url = {https://www.merl.com/publications/TR2021-062}
- }
- , "Comparison of Three Feedback Modalities for Haptics Sensation in Remote Machine Manipulation", IEEE International Conference on Robotics and Automation (ICRA), May 2021.BibTeX TR2021-063 PDF
- @inproceedings{Haruna2021may,
- author = {Haruna, Masaki and Kawaguchi, Noboru and Ogino, Masaki and Koike-Akino, Toshiaki},
- title = {Comparison of Three Feedback Modalities for Haptics Sensation in Remote Machine Manipulation},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2021,
- month = may,
- url = {https://www.merl.com/publications/TR2021-063}
- }
- , "Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry", IEEE International Conference on Robotics and Automation (ICRA), May 2021.BibTeX TR2021-052 PDF
- @inproceedings{Dong2021may,
- author = {Dong, Siyuan and Jha, Devesh K. and Romeres, Diego and Kim, Sangwoon and Nikovski, Daniel N. and Rodriguez, Alberto},
- title = {Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2021,
- month = may,
- url = {https://www.merl.com/publications/TR2021-052}
- }
- , "Model-Based Reinforcement Learning Using Monte Carlo Gradient Estimation", Automatica.it, September 2021.
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Videos
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Robotic Research at MERL
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Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models
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Modelica-Based Modeling and Control of a Delta Robot
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Towards Human-Level Learning of Complex Physical Puzzles
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Assembly of Belt Drive Units
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Examples of Robotic Manipulation
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Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry
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Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving
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Deep Reactive Planning in Dynamic Environments
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Monte Carlo Probabilistic Inference for Learning Control
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Experimental Validation of Reachability-based Decision Making for Autonomous Driving
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Software Downloads
