Publications

88 / 3,808 publications found.


  •  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}
    • }
  •  Jha, D.K., Jain, S., Romeres, D., Yerazunis, W.S., Nikovski, D., "Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control", European Control Conference (ECC), DOI: 10.23919/​ECC57647.2023.10178330, May 2023, pp. 1-8.
    BibTeX TR2023-065 PDF
    • @inproceedings{Jha2023may,
    • author = {Jha, Devesh K. and Jain, Siddarth and Romeres, Diego and Yerazunis, William S. and Nikovski, Daniel},
    • title = {{Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2023,
    • pages = {1--8},
    • month = may,
    • doi = {10.23919/ECC57647.2023.10178330},
    • url = {https://www.merl.com/publications/TR2023-065}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization in Contact-rich Systems", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10156516, May 2023, pp. 14-21.
    BibTeX TR2023-061 PDF
    • @inproceedings{Shirai2023may4,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {{Chance-Constrained Optimization in Contact-rich Systems}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • pages = {14--21},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.23919/ACC55779.2023.10156516},
    • url = {https://www.merl.com/publications/TR2023-061}
    • }
  •  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}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Covariance Steering for Uncertain Contact-Rich Systems", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10160249, May 2023, pp. 7923-7929.
    BibTeX TR2023-024 PDF
    • @inproceedings{Shirai2023may3,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {{Covariance Steering for Uncertain Contact-Rich Systems}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {7923--7929},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10160249},
    • isbn = {979-8-3503-2365-8},
    • url = {https://www.merl.com/publications/TR2023-024}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Hong, D., "Tactile Tool Manipulation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10160480, May 2023, pp. 12597-12603.
    BibTeX TR2023-023 PDF Video
    • @inproceedings{Shirai2023may2,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Hong, Dennis},
    • title = {{Tactile Tool Manipulation}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {12597--12603},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10160480},
    • isbn = {979-8-3503-2365-8},
    • url = {https://www.merl.com/publications/TR2023-023}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Hong, D., "Closed-Loop Tactile Controller for Tool Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.
    BibTeX TR2023-043 PDF Video
    • @inproceedings{Shirai2023may,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Hong, Dennis},
    • title = {{Closed-Loop Tactile Controller for Tool Manipulation}},
    • booktitle = {ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-043}
    • }
  •  Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.
    BibTeX TR2023-044 PDF
    • @inproceedings{Zhang2023may3,
    • author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
    • title = {{STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation}},
    • booktitle = {ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-044}
    • }
  •  Rosen, E., Jha, D.K., "A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators", arXiv, May 2023.
    BibTeX arXiv
    • @article{Rosen2023may,
    • author = {Rosen, Eric and Jha, Devesh K.},
    • title = {{A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators}},
    • journal = {arXiv},
    • year = 2023,
    • month = may,
    • url = {https://arxiv.org/abs/2305.10960}
    • }
  •  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 Conference on Decision and Control (CDC)},
    • 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}
    • }
  •  Rosen, E., Rammohan, S., Jha, D.K., "Learning robot motor skills with mixed reality", International Workshop on Virtual, Augmented, and Mixed-Reality for Human-Robot Interactions (VAM-HRI), March 2022.
    BibTeX TR2022-032 PDF
    • @inproceedings{Rosen2022mar,
    • author = {Rosen, Eric and Rammohan, Sreehari and Jha, Devesh K.},
    • title = {{Learning robot motor skills with mixed reality}},
    • booktitle = {International Workshop on Virtual, Augmented, and Mixed-Reality for Human-Robot Interactions (VAM-HRI)},
    • year = 2022,
    • month = mar,
    • url = {https://www.merl.com/publications/TR2022-032}
    • }
  •  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}
    • }
  •  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 Video
    • @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}
    • }