Publications

64 / 3,686 publications found.


  •  Jain, S., Corcodel, R., Jha, D.K., Romeres, D., "Vision Guided Food Assembly by Robot Teaching from Target Composition", ICRA 2023 Workshop on Task-Informed Grasping IV (TIG-IV): From Farm to Fork, May 2023.
    BibTeX TR2023-067 PDF
    • @inproceedings{Jain2023may,
    • author = {Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego},
    • title = {Vision Guided Food Assembly by Robot Teaching from Target Composition},
    • booktitle = {ICRA 2023 Workshop on Task-Informed Grasping IV (TIG-IV): From Farm to Fork},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-067}
    • }
  •  Kim, S., Jha, D.K., Romeres, D., Rodriguez, A., "Simultaneous Tactile Estimation and Control of Extrinsic Contact", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10161158, May 2023, pp. 12563-12569.
    BibTeX TR2023-025 PDF Video
    • @inproceedings{Kim2023may,
    • author = {Kim, Sangwoon and Jha, Devesh K. and Romeres, Diego and Rodriguez, Alberto},
    • title = {Simultaneous Tactile Estimation and Control of Extrinsic Contact},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {12563--12569},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10161158},
    • url = {https://www.merl.com/publications/TR2023-025}
    • }
  •  Zhang, X., Jain, S., Baichuan, H., Tomizuka, M., Romeres, D., "Learning Generalizable Pivoting Skills", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10161271, May 2023.
    BibTeX TR2023-045 PDF
    • @inproceedings{Zhang2023may4,
    • author = {Zhang, Xiang and Jain, Siddarth and Baichuan, Huang and Tomizuka, Masayoshi and Romeres, Diego},
    • title = {Learning Generalizable Pivoting Skills},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10161271},
    • isbn = {979-8-3503-2365-8},
    • url = {https://www.merl.com/publications/TR2023-045}
    • }
  •  Amadio, F., Dalla Libera, A., Antonello, R., Nikovski, D.N., Carli, R., Romeres, D., "Model-Based Policy Search Using Monte Carlo Gradient Estimation with Real Systems Application", IEEE Transaction on Robotics, DOI: 10.1109/​TRO.2022.3184837, Vol. 38, No. 6, pp. 3879-3898, December 2022.
    BibTeX TR2022-154 PDF Video Software
    • @article{Romeres2022dec,
    • author = {Amadio, Fabio and Dalla Libera, Alberto and Antonello, Riccardo and Nikovski, Daniel N. and Carli, Ruggero and Romeres, Diego},
    • title = {Model-Based Policy Search Using Monte Carlo Gradient Estimation with Real Systems Application},
    • journal = {IEEE Transaction on Robotics},
    • year = 2022,
    • volume = 38,
    • number = 6,
    • pages = {3879--3898},
    • month = dec,
    • doi = {10.1109/TRO.2022.3184837},
    • issn = {1941-0468},
    • url = {https://www.merl.com/publications/TR2022-154}
    • }
  •  Masui, H., Romeres, D., Nikovski, D.N., "Transfer Learning for Bayesian Optimization with Principal Component Analysis", International Conference on Machine Learning and Applications (ICMLA), December 2022, pp. 1077-1084.
    BibTeX TR2022-169 PDF
    • @inproceedings{Masui2022dec,
    • author = {Masui, Hideyuki and Romeres, Diego and Nikovski, Daniel N.},
    • title = {Transfer Learning for Bayesian Optimization with Principal Component Analysis},
    • booktitle = {International Conference on Machine Learning and Applications (ICMLA)},
    • year = 2022,
    • pages = {1077--1084},
    • month = dec,
    • publisher = {IEEE},
    • isbn = {978-1-6654-6283-9},
    • url = {https://www.merl.com/publications/TR2022-169}
    • }
  •  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}
    • }
  •  Schneider, T., Belousov, B., Chalvatzaki, G., Romeres, D., Jha, D.K., Peters, J., "Active Exploration for Robotic Manipulation", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS47612.2022.9982061, October 2022.
    BibTeX TR2022-139 PDF
    • @inproceedings{Schneider2022oct,
    • author = {Schneider, Tim and Belousov, Boris and Chalvatzaki, Georgia and Romeres, Diego and Jha, Devesh K. and Peters, Jan},
    • title = {Active Exploration for Robotic Manipulation},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2022,
    • month = oct,
    • publisher = {IEE},
    • doi = {10.1109/IROS47612.2022.9982061},
    • issn = {2153-0866},
    • isbn = {978-1-6654-7927-1},
    • url = {https://www.merl.com/publications/TR2022-139}
    • }
  •  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}
    • }
  •  Jha, D.K., Romeres, D., Yerazunis, W.S., Nikovski, D.N., "Imitation and Supervised Learning of Compliance for Robotic Assembly", European Control Conference (ECC), DOI: 10.23919/​ECC55457.2022.9838102, July 2022, pp. 1882-1889.
    BibTeX TR2022-099 PDF Video
    • @inproceedings{Jha2022jul,
    • author = {Jha, Devesh K. and Romeres, Diego and Yerazunis, William S. and Nikovski, Daniel N.},
    • title = {Imitation and Supervised Learning of Compliance for Robotic Assembly},
    • booktitle = {European Control Conference (ECC)},
    • year = 2022,
    • pages = {1882--1889},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ECC55457.2022.9838102},
    • isbn = {978-3-9071-4407-7},
    • url = {https://www.merl.com/publications/TR2022-099}
    • }
  •  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}
    • }
  •  Jha, D.K., Romeres, D., Jain, S., Yerazunis, W.S., Nikovski, D., "Design of Adaptive Compliance Controllers for Safe Robotic Assembly", arXiv, DOI: 10.48550/​arXiv.2204.10447, April 2022.
    BibTeX arXiv
    • @article{Jha2022apr,
    • 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},
    • journal = {arXiv},
    • year = 2022,
    • month = apr,
    • doi = {10.48550/arXiv.2204.10447},
    • url = {https://arxiv.org/abs/2204.10447}
    • }
  •  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}
    • }
  •  Chakrabarty, A., Quirynen, R., Romeres, D., Di Cairano, S., "Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC", IEEE International Conference on Systems, Man, and Cybernetics, DOI: 10.1109/​SMC52423.2021.9659186, October 2021, pp. 3238-3244.
    BibTeX TR2021-126 PDF Video
    • @inproceedings{Chakrabarty2021oct,
    • author = {Chakrabarty, Ankush and Quirynen, Rien and Romeres, Diego and Di Cairano, Stefano},
    • title = {Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC},
    • booktitle = {IEEE International Conference on Systems, Man, and Cybernetics},
    • year = 2021,
    • pages = {3238--3244},
    • month = oct,
    • doi = {10.1109/SMC52423.2021.9659186},
    • url = {https://www.merl.com/publications/TR2021-126}
    • }
  •  Amadio, F., Dalla Libera, A., Carli, R., Romeres, D., "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}
    • }
  •  Dalla Libera, A., Amadio, F., Nikovski, D.N., Carli, R., Romeres, D., "Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models", European Control Conference (ECC), DOI: 10.23919/​ECC54610.2021.9654429, 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,
    • publisher = {IEEE},
    • doi = {10.23919/ECC54610.2021.9654429},
    • isbn = {978-9-4638-4236-5},
    • url = {https://www.merl.com/publications/TR2021-068}
    • }
  •  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}
    • }
  •  Dong, S., Jha, D.K., Romeres, D., Kim, S., Nikovski, D.N., Rodriguez, A., "Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48506.2021.9561646, 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,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48506.2021.9561646},
    • issn = {2577-087X},
    • isbn = {978-1-7281-9077-8},
    • url = {https://www.merl.com/publications/TR2021-052}
    • }
  •  Laftchiev, E., Romeres, D., Nikovski, D.N., "Dynamic Thermal Comfort Optimization for Groups", American Control Conference (ACC), DOI: 10.23919/​ACC50511.2021.9483191, May 2021.
    BibTeX TR2021-057 PDF
    • @inproceedings{Laftchiev2021may,
    • author = {Laftchiev, Emil and Romeres, Diego and Nikovski, Daniel N.},
    • title = {Dynamic Thermal Comfort Optimization for Groups},
    • booktitle = {American Control Conference (ACC)},
    • year = 2021,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.23919/ACC50511.2021.9483191},
    • issn = {2378-5861},
    • isbn = {978-1-6654-4197-1},
    • url = {https://www.merl.com/publications/TR2021-057}
    • }
  •  Ota, K., Jha, D.K., Romeres, D., van Baar, J., Smith, K., Semistsu, T., Oiki, T., Sullivan, A., Nikovski, D.N., Tenenbaum, J.B., "Data-Efficient Learning for Complex and Real-Time Physical Problem Solving using Augmented Simulation", IEEE Robotics and Automation Letters, DOI: 10.1109/​LRA.2021.3068887, Vol. 6, No. 2, March 2021.
    BibTeX TR2021-032 PDF Video Software
    • @article{Ota2021mar,
    • author = {Ota, Kei and Jha, Devesh K. and Romeres, Diego and van Baar, Jeroen and Smith, Kevin and Semistsu, Takayuki and Oiki, Tomoaki and Sullivan, Alan and Nikovski, Daniel N. and Tenenbaum, Joshua B.},
    • title = {Data-Efficient Learning for Complex and Real-Time Physical Problem Solving using Augmented Simulation},
    • journal = {IEEE Robotics and Automation Letters},
    • year = 2021,
    • volume = 6,
    • number = 2,
    • month = mar,
    • doi = {10.1109/LRA.2021.3068887},
    • url = {https://www.merl.com/publications/TR2021-032}
    • }
  •  Laftchiev, E., Romeres, D., Nikovski, D.N., "Personalizing Individual Comfort in the Group Setting", Innovative Applications of Artificial Intelligence (IAAI), February 2021.
    BibTeX TR2021-011 PDF
    • @inproceedings{Laftchiev2021feb,
    • author = {Laftchiev, Emil and Romeres, Diego and Nikovski, Daniel N.},
    • title = {Personalizing Individual Comfort in the Group Setting},
    • booktitle = {Innovative Applications of Artificial Intelligence (IAAI)},
    • year = 2021,
    • month = feb,
    • url = {https://www.merl.com/publications/TR2021-011}
    • }
  •  Romeres, D., Amadio, F., Dalla Libera, A., Nikovski, D.N., Carli, R., "Model-based Policy Search for Partially Measurable Systems", Advances in Neural Information Processing Systems (NeurIPS), December 2020.
    BibTeX TR2020-174 PDF
    • @inproceedings{Romeres2020dec2,
    • author = {Romeres, Diego and Amadio, Fabio and Dalla Libera, Alberto and Nikovski, Daniel N. and Carli, Ruggero},
    • title = {Model-based Policy Search for Partially Measurable Systems},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
    • year = 2020,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2020-174}
    • }