- Wiebe, F., Turcato, N., Dalla Libera, A., Seong Bjorn Choe, J., Choi, B., Faust, T.L., Maraqten, H., Aghadavoodi, E., Cali, M., Sinigaglia, A., Giacomuzzo, G., Carli, R., Romeres, D., Kim, J.-K., Susto, G.A., Vyas, S., Mronga, D., Belousov, B., Peters, J., Kirchner, F., Kumar, S., "Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd “AI Olympics with RealAIGym” Competition", IEEE Robotics & Automation Magazine, January 2026.
BibTeX TR2026-013 PDF- @article{Wiebe2026jan,
- author = {{{Wiebe, Felix and Turcato, Niccolò and Dalla Libera, Alberto and Seong Bjorn Choe, Jean and Choi, Bumkyu and Faust, Tim Lukas and Maraqten, Habib and Aghadavoodi, Erfan and Cali, Marco and Sinigaglia, Alberto and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego and Kim, Jong-kook and Susto, Gian Antonio and Vyas, Shubham and Mronga, Dennis and Belousov, Boris and Peters, Jan and Kirchner, Frank and Kumar, Shivesh}}},
- title = {{{Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd “AI Olympics with RealAIGym” Competition}}},
- journal = {IEEE Robotics \& Automation Magazine},
- year = 2026,
- month = jan,
- url = {https://www.merl.com/publications/TR2026-013}
- }
- Shirai, Y., Ota, K., Jha, D.K., Romeres, D., "Learning Non-prehensile Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations", IEEE Robotics and Automation Letters, January 2026.
BibTeX TR2026-011 PDF Video- @article{Shirai2026jan,
- author = {Shirai, Yuki and Ota, Kei and Jha, Devesh K. and Romeres, Diego},
- title = {{Learning Non-prehensile Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations}},
- journal = {IEEE Robotics and Automation Letters},
- year = 2026,
- month = jan,
- url = {https://www.merl.com/publications/TR2026-011}
- }
- De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Ghidoni, S., Romeres, D., "Real-time Human Progress Estimation with Online Dynamic Time Warping for Collaborative Robotics", Frontiers, December 2025.
BibTeX TR2025-173 PDF- @article{DeLazzari2025dec,
- author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Ghidoni, Stefano and Romeres, Diego},
- title = {{Real-time Human Progress Estimation with Online Dynamic Time Warping for Collaborative Robotics}},
- journal = {Frontiers},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-173}
- }
- Shirai, Y., Ota, K., Jha, D.K., Romeres, D., "Sim-to-Real Contact-Rich Pivoting via Optimization-Guided RL with Vision and Touch", Embodied World Models for Decision Making, NeurIPS Workshop, December 2025.
BibTeX TR2025-169 PDF Video- @inproceedings{Shirai2025dec,
- author = {Shirai, Yuki and Ota, Kei and Jha, Devesh K. and Romeres, Diego},
- title = {{Sim-to-Real Contact-Rich Pivoting via Optimization-Guided RL with Vision and Touch}},
- booktitle = {NeurIPS 2025 Workshop on Embodied World Models for Decision Making},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-169}
- }
- Hori, C., Masuyama, Y., Jain, S., Corcodel, R., Jha, D.K., Romeres, D., Le Roux, J., "Robot Confirmation Generation and Action Planning Using Long-context Q-Former Integrated with Multimodal LLM", IEEE Workshop on Automatic Speech Recognition and Understanding (ASRU), December 2025.
BibTeX TR2025-167 PDF- @inproceedings{Hori2025dec,
- author = {Hori, Chiori and Masuyama, Yoshiki and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and {Le Roux}, Jonathan},
- title = {{Robot Confirmation Generation and Action Planning Using Long-context Q-Former Integrated with Multimodal LLM}},
- booktitle = {IEEE Workshop on Automatic Speech Recognition and Understanding (ASRU)},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-167}
- }
- Vats, S., Jha, D.K., Likhachev, M., Kroemer, O., Romeres, D., "RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2025.
BibTeX TR2025-152 PDF Video- @inproceedings{Vats2025oct,
- 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}},
- booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2025,
- month = oct,
- url = {https://www.merl.com/publications/TR2025-152}
- }
- Pegoraro, G., Giacomuzzo, G., Terreran, M., Ghidoni, S., Carli, R., Romeres, D., "Hierarchical Task Planning for Human-Robot Collaborative Assembly", IFAC Joint Conference on Computers, Cognition, and Communication, September 2025.
BibTeX TR2025-134 PDF- @inproceedings{Pegoraro2025sep,
- author = {Pegoraro, Giulia and Giacomuzzo, Giulio and Terreran, Matteo and Ghidoni, Stefano and Carli, Ruggero and Romeres, Diego},
- title = {{Hierarchical Task Planning for Human-Robot Collaborative Assembly}},
- booktitle = {IFAC Joint Conference on Computers, Cognition, and Communication},
- year = 2025,
- month = sep,
- url = {https://www.merl.com/publications/TR2025-134}
- }
- Shirai, Y., Ota, K., Jha, D.K., Romeres, D., "Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations", arXiv, August 2025.
BibTeX arXiv- @article{Shirai2025aug,
- author = {Shirai, Yuki and Ota, Kei and Jha, Devesh K. and Romeres, Diego},
- title = {{Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations}},
- journal = {arXiv},
- year = 2025,
- month = aug,
- url = {https://www.arxiv.org/abs/2508.01082}
- }
- Giacomuzzo, G., Romeres, D., Carli, R., Dalla Libera, A., "Learning Positive Definite Inertia Matrices in Black-Box Inverse Dynamics Models via Gaussian Processes: a Constraint Learning Approach", European Control Conference (ECC), DOI: 10.23919/ECC65951.2025.11187126, June 2025.
BibTeX TR2025-090 PDF- @inproceedings{Giacomuzzo2025jun,
- author = {Giacomuzzo, Giulio and Romeres, Diego and Carli, Ruggero and Dalla Libera, Alberto},
- title = {{Learning Positive Definite Inertia Matrices in Black-Box Inverse Dynamics Models via Gaussian Processes: a Constraint Learning Approach}},
- booktitle = {European Control Conference (ECC)},
- year = 2025,
- month = jun,
- publisher = {IEEE},
- doi = {10.23919/ECC65951.2025.11187126},
- issn = {2996-8895},
- isbn = {978-3-907144-12-1},
- url = {https://www.merl.com/publications/TR2025-090}
- }
- Vats, S., Jha, D.K., Likhachev, M., Kroemer, O., Romeres, D., "RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation", R3: Reasoning for Robust Robot Manipulation in the Open World Workshop at R:SS 2025, June 2025.
BibTeX TR2025-091 PDF Video- @inproceedings{Vats2025jun,
- 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}},
- booktitle = {R3: Reasoning for Robust Robot Manipulation in the Open World Workshop at R:SS 2025},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-091}
- }
- De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Romeres, D., "Human Monitoring with Correlation-based Dynamic Time Warping for Collaborative Assembly", IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation, May 2025.
BibTeX TR2025-067 PDF Video- @inproceedings{DeLazzari2025may2,
- author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Romeres, Diego},
- title = {{Human Monitoring with Correlation-based Dynamic Time Warping for Collaborative Assembly}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-067}
- }
- Giacomuzzo, G., Pegoraro, G., Terreran, M., Ghidoni, S., Carli, R., Romeres, D., "E-UHTP: An Extended Human-Aware Task Planner for Communication-Free Collaborative Assembly", IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation, May 2025.
BibTeX TR2025-066 PDF- @inproceedings{Giacomuzzo2025may,
- author = {Giacomuzzo, Giulio and Pegoraro, Giulia and Terreran, Matteo and Ghidoni, Stefano and Carli, Ruggero and Romeres, Diego},
- title = {{E-UHTP: An Extended Human-Aware Task Planner for Communication-Free Collaborative Assembly}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-066}
- }
- Lu, K., Ma, C., Hori, C., Romeres, D., "KitchenVLA: Iterative Vision-Language Corrections for Robotic Execution of Human Tasks", IEEE International Conference on Robotics and Automation Workshop on Safely Leveraging Vision-Language Foundation Models in Robotics (SafeLVMs@ICRA), May 2025.
BibTeX TR2025-068 PDF- @inproceedings{Lu2025may,
- author = {Lu, Kai and Ma, Chenyang and Hori, Chiori and Romeres, Diego},
- title = {{KitchenVLA: Iterative Vision-Language Corrections for Robotic Execution of Human Tasks}},
- booktitle = {IEEE International Conference on Robotics and Automation Workshop on Safely Leveraging Vision-Language Foundation Models in Robotics (SafeLVMs@ICRA)},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-068}
- }
- Giacomuzzo, G., Romeres, D., Carli, R., Dalla Libera, A., "Embedding Physical Consistency in Black-Box Inverse Dynamics Learning", IEEE International Conference on Robotics and Automation (ICRA) Workshop on Structured Learning for Efficient, Reliable, and Transparent Robots, May 2025.
BibTeX External- @inproceedings{Giacomuzzo2025may2,
- author = {{{Giacomuzzo, Giulio and Romeres, Diego and Carli, Ruggero and Dalla Libera, Alberto}}},
- title = {{{Embedding Physical Consistency in Black-Box Inverse Dynamics Learning}}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA) Workshop on Structured Learning for Efficient, Reliable, and Transparent Robots},
- year = 2025,
- month = may,
- url = {https://sites.google.com/view/srl-icra-2025/accepted-papers?authuser=0}
- }
- De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Romeres, D., "PACE: Proactive Assistance in Human-Robot Collaboration through Action-Completion Estimation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA55743.2025.11127399, May 2025.
BibTeX TR2025-064 PDF Video- @inproceedings{DeLazzari2025may,
- author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Romeres, Diego},
- title = {{PACE: Proactive Assistance in Human-Robot Collaboration through Action-Completion Estimation}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2025,
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA55743.2025.11127399},
- isbn = {979-8-3315-4139-2},
- url = {https://www.merl.com/publications/TR2025-064}
- }
- Chen, Y., Jha, D.K., Tomizuka, M., Romeres, D., "FDPP: Fine-tune Diffusion Policy with Human Preference", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
BibTeX TR2025-053 PDF Video- @inproceedings{Chen2025may,
- author = {Chen, Yuxin and Jha, Devesh K. and Tomizuka, Masayoshi and Romeres, Diego},
- title = {{FDPP: Fine-tune Diffusion Policy with Human Preference}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-053}
- }
- Turcato, N., Cali, M., Dalla Libera, A., Giacomuzzo, G., Carli, R., Romeres, D., "Learning global control of underactuated double pendulum with Model-Based Reinforcement Learning", IEEE International Conference on Robotics and Automation (ICRA) - 3rd AI Olympics with RealAIGym Competition, April 2025.
BibTeX TR2025-046 PDF- @inproceedings{Turcato2025apr,
- author = {Turcato, Niccolò and Cali, Marco and Dalla Libera, Alberto and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego},
- title = {{Learning global control of underactuated double pendulum with Model-Based Reinforcement Learning}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - 3rd AI Olympics with RealAIGym Competition},
- year = 2025,
- month = apr,
- url = {https://www.merl.com/publications/TR2025-046}
- }
- Hori, C., Kambara, M., Sugiura, K., Ota, K., Khurana, S., Jain, S., Corcodel, R., Jha, D.K., Romeres, D., Le Roux, J., "Interactive Robot Action Replanning using Multimodal LLM Trained from Human Demonstration Videos", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), DOI: 10.1109/ICASSP49660.2025.10887717, April 2025.
BibTeX TR2025-034 PDF- @inproceedings{Hori2025mar,
- author = {Hori, Chiori and Kambara, Motonari and Sugiura, Komei and Ota, Kei and Khurana, Sameer and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and {Le Roux}, Jonathan},
- title = {{Interactive Robot Action Replanning using Multimodal {LLM} Trained from Human Demonstration Videos}},
- booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
- year = 2025,
- month = mar,
- doi = {10.1109/ICASSP49660.2025.10887717},
- url = {https://www.merl.com/publications/TR2025-034}
- }
- Shao, K., Chakrabarty, A., Mesbah, A., Romeres, D., "Coactive Preference-Guided Multi-Objective Bayesian Optimization: An Application to Policy Learning in Personalized Plasma Medicine", IEEE Control Systems Letters, DOI: 10.1109/LCSYS.2024.3521965, Vol. 8, pp. 3081-3086, February 2025.
BibTeX TR2025-021 PDF- @article{Shao2025feb,
- author = {Shao, Ketong and Chakrabarty, Ankush and Mesbah, Ali and Romeres, Diego},
- title = {{Coactive Preference-Guided Multi-Objective Bayesian Optimization: An Application to Policy Learning in Personalized Plasma Medicine}},
- journal = {IEEE Control Systems Letters},
- year = 2025,
- volume = 8,
- pages = {3081--3086},
- month = feb,
- doi = {10.1109/LCSYS.2024.3521965},
- issn = {2475-1456},
- url = {https://www.merl.com/publications/TR2025-021}
- }
- Ip, J.H.S., Chakrabarty, A., Mesbah, A., Romeres, D., "User Preference Meets Pareto-Optimality in Multi-Objective Bayesian Optimization", AAAI Conference on Artificial Intelligence, DOI: 10.1609/aaai.v39i19.34230, February 2025.
BibTeX TR2025-018 PDF- @inproceedings{Ip2025feb,
- author = {{{Ip, Joshua Hang Sai and Chakrabarty, Ankush and Mesbah, Ali and Romeres, Diego}}},
- title = {{{User Preference Meets Pareto-Optimality in Multi-Objective Bayesian Optimization}}},
- booktitle = {AAAI Conference on Artificial Intelligence},
- year = 2025,
- month = feb,
- doi = {10.1609/aaai.v39i19.34230},
- url = {https://www.merl.com/publications/TR2025-018}
- }
- 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}
- }
- Ip, J.H.S., Chakrabarty, A., Masui Hideyuki, , Mesbah, A., Romeres, D., "Preference-based Multi-Objective Bayesian Optimization with Gradients", NeurIPS Workshop on Bayesian Decision-making and Uncertainty, December 2024.
BibTeX TR2025-011 PDF- @inproceedings{Ip2024dec,
- author = {Ip, Joshua Hang Sai and Chakrabarty, Ankush and Masui Hideyuki and Mesbah, Ali and Romeres, Diego},
- title = {{Preference-based Multi-Objective Bayesian Optimization with Gradients}},
- booktitle = {NeurIPS Workshop on Bayesian Decision-making and Uncertainty},
- year = 2024,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-011}
- }
- Cherian, A., Corcodel, R., Jain, S., Romeres, D., "LLMPhy: Complex Physical Reasoning Using Large Language Models and World Models", arXiv, November 2024.
BibTeX arXiv- @article{Cherian2024oct,
- author = {Cherian, Anoop and Corcodel, Radu and Jain, Siddarth and Romeres, Diego},
- title = {{LLMPhy: Complex Physical Reasoning Using Large Language Models and World Models}},
- journal = {arXiv},
- year = 2024,
- month = nov,
- url = {https://arxiv.org/abs/2411.08027}
- }
- Suresh, P., Romeres, D., Dosh, P., Jain, S., "Open Human-Robot Collaboration Systems (OHRCS): A Research Perspective", IEEE International Conference on Cognitive Machine Intelligence (CogML 2024), DOI: 10.1109/CogMI62246.2024.00023, October 2024, pp. 103-110.
BibTeX TR2024-150 PDF- @inproceedings{Suresh2024nov,
- author = {Suresh, Prasanth and Romeres, Diego and Dosh, Prashant and Jain, Siddarth},
- title = {{Open Human-Robot Collaboration Systems (OHRCS): A Research Perspective}},
- booktitle = {2024 IEEE 6th International Conference on Cognitive Machine Intelligence (CogMI)},
- year = 2024,
- pages = {103--110},
- month = oct,
- publisher = {IEEE Computer Society},
- doi = {10.1109/CogMI62246.2024.00023},
- url = {https://www.merl.com/publications/TR2024-150}
- }
- 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}
- }