- 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}
- }
- 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}
- }
- 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., October 2024.
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,
- month = oct,
- url = {https://www.merl.com/publications/TR2024-133}
- }
- Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry", arXiv, July 2024.
BibTeX arXiv- @article{Zhang2024jul5,
- author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris}},
- title = {Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry},
- journal = {arXiv},
- year = 2024,
- month = jul,
- url = {http://arxiv.org/abs/2407.16976}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., "Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization", IEEE Transactions on Robotics, DOI: 10.1109/TRO.2024.3422053, pp. 3425-3444, July 2024.
BibTeX TR2024-096 PDF Video- @article{Shirai2024jul,
- author = {{Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind}},
- title = {Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization},
- journal = {IEEE Transactions on Robotics},
- year = 2024,
- pages = {3425--3444},
- month = jul,
- doi = {10.1109/TRO.2024.3422053},
- issn = {1941-0468},
- url = {https://www.merl.com/publications/TR2024-096}
- }
- Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry", RSS Workshop on Frontiers of Optimization for Robotics (RSS Workshop FOR), July 2024.
BibTeX TR2024-100 PDF- @inproceedings{Zhang2024jul3,
- author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris}},
- title = {Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry},
- booktitle = {RSS Workshop on Frontiers of Optimization for Robotics (RSS Workshop FOR)},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-100}
- }
- Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance", IEEE Transactions on Automation Science and Engineering, DOI: 10.1109/TASE.2024.3365637, pp. 1-16, June 2024.
BibTeX TR2024-087 PDF- @article{Raghunathan2024jun,
- author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego}},
- title = {PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance},
- journal = {IEEE Transactions on Automation Science and Engineering},
- year = 2024,
- pages = {1--16},
- month = jun,
- doi = {10.1109/TASE.2024.3365637},
- issn = {1545-5955},
- url = {https://www.merl.com/publications/TR2024-087}
- }
- Kambara, M., Hori, C., Sugiura, K., Ota, K., Jha, D.K., Khurana, S., Jain, S., Corcodel, R., Romeres, D., Le Roux, J., "Human Action Understanding-based Robot Planning using Multimodal LLM", IEEE International Conference on Robotics and Automation (ICRA), June 2024.
BibTeX TR2024-066 PDF- @inproceedings{Kambara2024jun,
- author = {Kambara, Motonari and Hori, Chiori and Sugiura, Komei and Ota, Kei and Jha, Devesh K. and Khurana, Sameer and Jain, Siddarth and Corcodel, Radu and Romeres, Diego and Le Roux, Jonathan}},
- title = {Human Action Understanding-based Robot Planning using Multimodal LLM},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA) Workshop},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-066}
- }
- Liang, B., Ota, K., Tomizuka, M., Jha, D.K., "Robust In-Hand Manipulation with Extrinsic Contacts", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA57147.2024.10611664, May 2024, pp. 6544-6550.
BibTeX TR2024-061 PDF Video- @inproceedings{Liang2024may,
- author = {Liang, Boyuan and Ota, Kei and Tomizuka, Masayoshi and Jha, Devesh K.}},
- title = {Robust In-Hand Manipulation with Extrinsic Contacts},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- pages = {6544--6550},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA57147.2024.10611664},
- isbn = {979-8-3503-8457-4},
- url = {https://www.merl.com/publications/TR2024-061}
- }
- Ota, K., Jha, D.K., Kanezaki, A., "A Framework for Training Larger Networks for Deep Reinforcement Learning", Machine Learning Journal, May 2024.
BibTeX TR2024-058 PDF- @article{Ota2024may3,
- author = {Ota, Kei and Jha, Devesh K. and Kanezaki, Asako}},
- title = {A Framework for Training Larger Networks for Deep Reinforcement Learning},
- journal = {Machine Learning Journal},
- year = 2024,
- month = may,
- url = {https://www.merl.com/publications/TR2024-058}
- }
- Ota, K., Jha, D.K., Jatavallabhula, K., Kanezaki, A., Tenenbaum, J.B., "Tactile Estimation of Extrinsic Contact Patch for Stable Placement", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA57147.2024.10611504}, May 2024, pp. 13876-13882.
BibTeX TR2024-053 PDF- @inproceedings{Ota2024may2,
- author = {Ota, Kei and Jha, Devesh K. and Jatavallabhula, Krishna and Kanezaki, Asako and Tenenbaum, Joshua B.}},
- title = {Tactile Estimation of Extrinsic Contact Patch for Stable Placement},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- pages = {13876--13882},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA57147.2024.10611504}},
- isbn = {979-8-3503-8457-4},
- url = {https://www.merl.com/publications/TR2024-053}
- }
- Sun, L., Jha, D.K., Hori, C., Jain, S., Corcodel, R., Zhu, X., Tomizuka, M., Romeres, D., "Interactive Planning Using Large Language Models for Partially Observable Robotic Tasks", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA57147.2024.10610981, May 2024, pp. 14054-14061.
BibTeX TR2024-052 PDF Video- @inproceedings{Sun2024may,
- author = {Sun, Lingfeng and Jha, Devesh K. and Hori, Chiori and Jain, Siddarth and Corcodel, Radu and Zhu, Xinghao and Tomizuka, Masayoshi and Romeres, Diego}},
- title = {Interactive Planning Using Large Language Models for Partially Observable Robotic Tasks},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- pages = {14054--14061},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA57147.2024.10610981},
- isbn = {979-8-3503-8457-4},
- url = {https://www.merl.com/publications/TR2024-052}
- }
- Lin, C., Wang, Y., Vetterling, W., Jha, D.K., Quirynen, R., "Path Generation based on Electrostatic Equipotential Curves", IEEE Access, DOI: 10.1109/ACCESS.2024.3389962, Vol. 12, pp. 55019-55032, May 2024.
BibTeX TR2024-049 PDF- @article{Lin2024may,
- author = {Lin, Chungwei and Wang, Yebin and Vetterling, William and Jha, Devesh K. and Quirynen, Rien}},
- title = {Path Generation based on Electrostatic Equipotential Curves},
- journal = {IEEE Access},
- year = 2024,
- volume = 12,
- pages = {55019--55032},
- month = may,
- doi = {10.1109/ACCESS.2024.3389962},
- url = {https://www.merl.com/publications/TR2024-049}
- }
- Zhu, X., Jha, D.K., Romeres, D., Sun, L., Tomizuka, M., Cherian, A., "Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection", IEEE International Conference on Robotics and Automation (ICRA), March 2024, pp. 816-823.
BibTeX TR2024-033 PDF Video- @inproceedings{Zhu2024mar,
- author = {Zhu, Xinghao and Jha, Devesh K. and Romeres, Diego and Sun, Lingfeng and Tomizuka, Masayoshi and Cherian, Anoop},
- title = {Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- pages = {816--823},
- month = mar,
- publisher = {IEEE},
- url = {https://www.merl.com/publications/TR2024-033}
- }
- Zhao, G., Jha, D.K., Wang, Y., Zhu, M., "iPolicy: Incremental Policy Algorithms for Feedback Motion Planning", arXiv, January 2024.
BibTeX arXiv- @article{Zhao2024jan,
- author = {Zhao, Guoxiang and Jha, Devesh K. and Wang, Yebin and Zhu, Minghui},
- title = {iPolicy: Incremental Policy Algorithms for Feedback Motion Planning},
- journal = {arXiv},
- year = 2024,
- month = jan,
- url = {https://arxiv.org/abs/2401.02883}
- }
- Sun, L., Jha, D.K., Hori, C., Jain, S., Corcodel, R., Zhu, X., Tomizuka, M., Romeres, D., "Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks", Advances in Neural Information Processing Systems (NeurIPS) Workshop on Instruction Tuning and Instruction Following, December 2023.
BibTeX TR2023-148 PDF Video- @inproceedings{Sun2023dec,
- author = {Sun, Lingfeng and Jha, Devesh K. and Hori, Chiori and Jain, Siddarth and Corcodel, Radu and Zhu, Xinghao and Tomizuka, Masayoshi and Romeres, Diego},
- title = {Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks},
- booktitle = {Advances in Neural Information Processing Systems (NeurIPS) Workshop on Instruction Tuning and Instruction Following},
- year = 2023,
- month = dec,
- url = {https://www.merl.com/publications/TR2023-148}
- }
- 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), DOI: 10.1109/IROS55552.2023.10341839, September 2023, pp. 3672-3679.
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,
- pages = {3672--3679},
- month = sep,
- publisher = {IEEE},
- doi = {10.1109/IROS55552.2023.10341839},
- issn = {2153-0866},
- isbn = {978-1-6654-9190-7},
- 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}
- }
- Ota, K., Jha, D.K., Jatavallabhula, K., Kanezaki, A., Tenenbaum, J.B., "Estimation of Extrinsic Contact Patch for Stable Placement", IEEE IROS 2023 Workshop on Visuo-Tactile Perception, Learning, Control for Manipulation and HRI, September 2023.
BibTeX TR2024-018 PDF- @inproceedings{Ota2023sep2,
- author = {Ota, Kei and Jha, Devesh K. and Jatavallabhula, Krishna and Kanezaki, Asako and Tenenbaum, Joshua B.},
- title = {Estimation of Extrinsic Contact Patch for Stable Placement},
- booktitle = {IEEE IROS 2023 Workshop on Visuo-Tactile Perception, Learning, Control for Manipulation and HRI},
- year = 2023,
- month = sep,
- url = {https://www.merl.com/publications/TR2024-018}
- }
- Hori, C., Peng, P., Harwath, D., Liu, X., Ota, K., Jain, S., Corcodel, R., Jha, D.K., Romeres, D., Le Roux, J., "Style-transfer based Speech and Audio-visual Scene understanding for Robot Action Sequence Acquisition from Videos", Interspeech, DOI: 10.21437/Interspeech.2023-1983, August 2023, pp. 4663-4667.
BibTeX TR2023-104 PDF- @inproceedings{Hori2023aug,
- author = {Hori, Chiori and Peng, Puyuang and Harwath, David and Liu, Xinyu and Ota, Kei and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and Le Roux, Jonathan},
- title = {Style-transfer based Speech and Audio-visual Scene understanding for Robot Action Sequence Acquisition from Videos},
- booktitle = {Interspeech},
- year = 2023,
- pages = {4663--4667},
- month = aug,
- doi = {10.21437/Interspeech.2023-1983},
- url = {https://www.merl.com/publications/TR2023-104}
- }
- Li, W., Wang, M., Li, J., Su, Y., Jha, D.K., Qian, X., Althoefer, K., Liu, H., "L3 F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing", IEEE Robotics and Automation Letters (RA-L), DOI: 10.1109/LRA.2023.3292575, Vol. 8, No. 8, pp. 5148-5155, July 2023.
BibTeX TR2023-081 PDF- @article{Li2023jul,
- author = {Li, Wanlin and Wang, Meng and Li, Jiarui and Su, Yao and Jha, Devesh K. and Qian, Xingyuan and Althoefer, Kaspar and Liu, Hangxin},
- title = {L3 F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing},
- journal = {IEEE Robotics and Automation Letters (RA-L)},
- year = 2023,
- volume = 8,
- number = 8,
- pages = {5148--5155},
- month = jul,
- doi = {10.1109/LRA.2023.3292575},
- url = {https://www.merl.com/publications/TR2023-081}
- }
- Ota, K., Jain, S., Zhang, M., Jha, D.K., "Tactile Pose Feedback for Closed-loop Manipulation Tasks", RSS 23 Workshop on Learning Dexterous Manipulation, July 2023.
BibTeX TR2023-082 PDF- @inproceedings{Ota2023jul,
- author = {Ota, Kei and Jain, Siddarth and Zhang, Mengchao and Jha, Devesh K.},
- title = {Tactile Pose Feedback for Closed-loop Manipulation Tasks},
- booktitle = {RSS 23 Workshop on Learning Dexterous Manipulation},
- year = 2023,
- month = jul,
- url = {https://www.merl.com/publications/TR2023-082}
- }
- 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), DOI: 10.15607/RSS.2023.XIX.044, 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,
- doi = {10.15607/RSS.2023.XIX.044},
- url = {https://www.merl.com/publications/TR2023-078}
- }
- Jha, D.K., Romeres, D., Jain, S., Yerazunis, W.S., Nikovski, D., "Design of Adaptive Compliance Controllers for Safe Robotic Assembly", European Control Conference (ECC), DOI: 10.23919/ECC57647.2023.10178229, June 2023.
BibTeX TR2023-070 PDF- @inproceedings{Jha2023jun,
- author = {Jha, Devesh K. and Romeres, Diego and Jain, Siddarth and Yerazunis, William S. and Nikovski, Daniel},
- title = {Design of Adaptive Compliance Controllers for Safe Robotic Assembly},
- booktitle = {European Control Conference (ECC)},
- year = 2023,
- month = jun,
- doi = {10.23919/ECC57647.2023.10178229},
- url = {https://www.merl.com/publications/TR2023-070}
- }
- Ota, K., Jha, D.K., Tung, H.-Y., Tenenbaum, J.B., "Tactile-Filter: Interactive Tactile Perception for Part Mating", Robotics: Science and Systems (RSS), DOI: 10.15607/RSS.2023.XIX.079, June 2023.
BibTeX TR2023-077 PDF Video- @inproceedings{Ota2023jun,
- author = {Ota, Kei and Jha, Devesh K. and Tung, Hsiao-Yu and Tenenbaum, Joshua B.},
- title = {Tactile-Filter: Interactive Tactile Perception for Part Mating},
- booktitle = {Robotics: Science and Systems (RSS)},
- year = 2023,
- month = jun,
- doi = {10.15607/RSS.2023.XIX.079},
- url = {https://www.merl.com/publications/TR2023-077}
- }