- 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}
- }
- 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 Videos 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}
- }
- 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}
- }
- Wang, Z., Ahmad, A., Quirynen, R., Wang, Y., Bhagat, A., Zeino, E., Zushi, Y., Di Cairano, S., "Motion Planning and Model Predictive Control for Automated Tractor-Trailer Hitching Maneuver", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA49430.2022.9966181, August 2022, pp. 676-682.
BibTeX TR2022-109 PDF- @inproceedings{Wang2022aug,
- author = {Wang, Zejiang and Ahmad, Ahmad and Quirynen, Rien and Wang, Yebin and Bhagat, Akshay and Zeino, Eyad and Zushi, Yuji and Di Cairano, Stefano},
- title = {Motion Planning and Model Predictive Control for Automated Tractor-Trailer Hitching Maneuver},
- booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
- year = 2022,
- pages = {676--682},
- month = aug,
- publisher = {IEEE},
- doi = {10.1109/CCTA49430.2022.9966181},
- url = {https://www.merl.com/publications/TR2022-109}
- }
- 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}
- }
- Demir, A., Koike-Akino, T., Wang, Y., Erdogmus, D., "EEG-GAT: Graph Attention Networks for Classification of Electroencephalogram (EEG) Signals", International Conference of the IEEE Engineering in Medicine & Biology Society (EMBS), DOI: 10.1109/EMBC48229.2022.9871984, July 2022.
BibTeX TR2022-097 PDF- @inproceedings{Demir2022jul,
- author = {Demir, Andac and Koike-Akino, Toshiaki and Wang, Ye and Erdogmus, Deniz},
- title = {EEG-GAT: Graph Attention Networks for Classification of Electroencephalogram (EEG) Signals},
- booktitle = {International Conference of the IEEE Engineering in Medicine \& Biology Society (EMBS)},
- year = 2022,
- month = jul,
- publisher = {IEEE},
- doi = {10.1109/EMBC48229.2022.9871984},
- issn = {2694-0604},
- isbn = {978-1-7281-2782-8},
- url = {https://www.merl.com/publications/TR2022-097}
- }
- 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}
- }
- Schperberg, A., Di Cairano, S., Menner, M., "Auto-Tuning of Controller and Online Trajectory Planner for Legged Robots", IEEE Robotics and Automation Letters, DOI: 10.1109/LRA.2022.3185387, Vol. 7, No. 3, pp. 7802-7809, June 2022.
BibTeX TR2022-085 PDF- @article{Schperberg2022jun,
- author = {{Schperberg, Alexander and Di Cairano, Stefano and Menner, Marcel}},
- title = {Auto-Tuning of Controller and Online Trajectory Planner for Legged Robots},
- journal = {IEEE Robotics and Automation Letters},
- year = 2022,
- volume = 7,
- number = 3,
- pages = {7802--7809},
- month = jun,
- doi = {10.1109/LRA.2022.3185387},
- url = {https://www.merl.com/publications/TR2022-085}
- }
- Zhu, X., Jain, S., Tomizuka, M., van Baar, J., "Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints", ICRA 2022 Workshop on Reinforcement Learning for Contact-Rich Manipulation, May 2022.
BibTeX TR2022-058 PDF- @inproceedings{Zhu2022may3,
- author = {Zhu, Xinghao and Jain, Siddarth and Tomizuka, Masayoshi and van Baar, Jeroen},
- title = {Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints},
- booktitle = {ICRA 2022 Workshop on Reinforcement Learning for Contact-Rich Manipulation},
- year = 2022,
- month = may,
- url = {https://www.merl.com/publications/TR2022-058}
- }
- 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}
- }
- Leu, J., Wang, Y., Tomizuka, M., Di Cairano, S., "Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA46639.2022.9812309, May 2022, pp. 10890-10897.
BibTeX TR2022-056 PDF- @inproceedings{Leu2022may,
- author = {Leu, Jessica and Wang, Yebin and Tomizuka, Masayoshi and Di Cairano, Stefano},
- title = {Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2022,
- pages = {10890--10897},
- month = may,
- doi = {10.1109/ICRA46639.2022.9812309},
- url = {https://www.merl.com/publications/TR2022-056}
- }
- Zhu, X., Jain, S., Tomizuka, M., van Baar, J., "Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA46639.2022.9812092, May 2022, pp. 4833-4839.
BibTeX TR2022-055 PDF- @inproceedings{Zhu2022may2,
- author = {Zhu, Xinghao and Jain, Siddarth and Tomizuka, Masayoshi and van Baar, Jeroen},
- title = {Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints},
- booktitle = {2022 IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2022,
- pages = {4833--4839},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA46639.2022.9812092},
- isbn = {978-1-7281-9681-7},
- url = {https://www.merl.com/publications/TR2022-055}
- }
- 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}
- }
- 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}
- }
- Das, P., Ortega, A., Chen, S., Mansour, H., Vetro, A., "Application-agnostic spatio-temporal hand graph representations for stable activity understanding", IEEE International Conference on Image Processing (ICIP), DOI: 10.1109/ICIP42928.2021.9506054, September 2021, pp. 1074-1078.
BibTeX TR2021-112 PDF- @inproceedings{Das2021sep,
- author = {Das, Pratyusha and Ortega, Antonio and Chen, Siheng and Mansour, Hassan and Vetro, Anthony},
- title = {Application-agnostic spatio-temporal hand graph representations for stable activity understanding},
- booktitle = {IEEE International Conference on Image Processing (ICIP)},
- year = 2021,
- pages = {1074--1078},
- month = sep,
- publisher = {IEEE},
- doi = {10.1109/ICIP42928.2021.9506054},
- url = {https://www.merl.com/publications/TR2021-112}
- }
- 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}
- }
- Jain, S., Corcodel, R., van Baar, J., "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}
- }
- Solomon, E., Yerazunis, W.S., "Robotic Applications of Mechanical Metamaterials Produced Using SLA 3D Printing: Cthulhu-Morphic Grippers", Solid Freeform Fabrication Symposium, DOI: 10.26153/tsw/17539, 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,
- doi = {10.26153/tsw/17539},
- url = {https://www.merl.com/publications/TR2021-088}
- }
- 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 Video- @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}
- }
- 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}
- }
- Dai, S., Wang, Y., "Long-Horizon Motion Planning for Autonomous Vehicle Parking Incorporating Incomplete Map Information", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA48506.2021.9562101, May 2021, pp. 8135-8142.
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,
- pages = {8135--8142},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA48506.2021.9562101},
- url = {https://www.merl.com/publications/TR2021-062}
- }
- Haruna, M., Kawaguchi, N., Ogino, M., Koike-Akino, T., "Comparison of Three Feedback Modalities for Haptics Sensation in Remote Machine Manipulation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/LRA.2021.3070301, May 2021.
BibTeX TR2021-063 PDF Video- @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,
- doi = {10.1109/LRA.2021.3070301},
- issn = {2377-3766},
- url = {https://www.merl.com/publications/TR2021-063}
- }
- 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 Video- @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}
- }