- Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming", Nonlinear Analysis: Hybrid Systems, 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,
- month = dec,
- url = {https://www.merl.com/publications/TR2024-008}
- }
- Cherian, A., Jain, S., Marks, T.K., "Few-shot Transparent Instance Segmentation for Bin Picking", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2024.
BibTeX TR2024-127 PDF- @inproceedings{Cherian2024sep,
- author = {Cherian, Anoop and Jain, Siddarth and Marks, Tim K.}},
- title = {Few-shot Transparent Instance Segmentation for Bin Picking},
- booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2024,
- month = sep,
- url = {https://www.merl.com/publications/TR2024-127}
- }
- Quirynen, R., Safaoui, S., Di Cairano, S., "Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning", IEEE Transactions on Control Systems Technology, September 2024.
BibTeX TR2024-123 PDF- @article{Quirynen2024sep,
- author = {Quirynen, Rien and Safaoui, Sleiman and Di Cairano, Stefano}},
- title = {Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2024,
- month = sep,
- url = {https://www.merl.com/publications/TR2024-123}
- }
- Wiebe, F., Turcato, N., Dalla Libera, A., Zhang, C., Vincent, T., Vyas, S., Giacomuzzo, G., Carli, R., Romeres, D., Sathuluri, A., Zimmermann, M., Belousov, B., Peters, J., Kirchner, F., Kumar, S., "Reinforcement Learning for Athletic Intelligence: Lessons from the 1st “AI Olympics with RealAIGym” Competition", Internation Joint Conference on Artificial Intelligence (IJCAI), August 2024.
BibTeX TR2024-108 PDF- @inproceedings{Wiebe2024aug,
- author = {Wiebe, Felix and Turcato, Niccolò and Dalla Libera, Alberto and Zhang, Chi and Vincent, Theo and Vyas, Shubham and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego and Sathuluri, Akhil and Zimmermann, Markus and Belousov, Boris and Peters, Jan and Kirchner, Frank and Kumar, Shivesh}},
- title = {Reinforcement Learning for Athletic Intelligence: Lessons from the 1st “AI Olympics with RealAIGym” Competition},
- booktitle = {Internation Joint Conference on Artificial Intelligence (IJCAI)},
- year = 2024,
- month = aug,
- url = {https://www.merl.com/publications/TR2024-108}
- }
- Bimbraw, K., Liu, J., Wang, Y., Koike-Akino, T., "Random Channel Ablation for Robust Hand Gesture Classification with Multimodal Biosignals", International Conference of the IEEE Engineering in Medicine and Biology Society, July 2024.
BibTeX TR2024-103 PDF- @inproceedings{Bimbraw2024jul3,
- author = {Bimbraw, Keshav and Liu, Jing and Wang, Ye and Koike-Akino, Toshiaki}},
- title = {Random Channel Ablation for Robust Hand Gesture Classification with Multimodal Biosignals},
- booktitle = {International Conference of the IEEE Engineering in Medicine and Biology Society},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-103}
- }
- 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}
- }
- Giacomuzzo, G., Cescon, R., Romeres, D., Carli, R., Dalla Libera, A., "Lagrangian Inspired Polynomial Estimator for black-box learning and control of underactuated systems", Learning for Dynamics & Control Conference (L4DC), July 2024.
BibTeX TR2024-097 PDF- @inproceedings{Giacomuzzo2024jul,
- author = {{Giacomuzzo, Giulio and Cescon, Riccardo and Romeres, Diego and Carli, Ruggero and Dalla Libera, Alberto}},
- title = {Lagrangian Inspired Polynomial Estimator for black-box learning and control of underactuated systems},
- booktitle = {Learning for Dynamics \& Control Conference (L4DC)},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-097}
- }
- 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}
- }
- Kim, T., Vinod, A.P., Di Cairano, S., "Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets", American Control Conference (ACC), July 2024.
BibTeX TR2024-092 PDF- @inproceedings{Kim2024jul,
- author = {Kim, Taewan and Vinod, Abraham P. and Di Cairano, Stefano}},
- title = {Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-092}
- }
- Nikovski, D., Zhong, J., Yerazunis, W.S., "Memory-Based Global Iterative Linear Quadratic Control", International Conference on Control, Decision and Information Technologies (CoDIT), July 2024.
BibTeX TR2024-089 PDF- @inproceedings{Nikovski2024jul2,
- author = {{Nikovski, Daniel and Zhong, Junmin and Yerazunis, William S.}},
- title = {Memory-Based Global Iterative Linear Quadratic Control},
- booktitle = {International Conference on Control, Decision and Information Technologies (CoDIT)},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-089}
- }
- Nikovski, D., Yerazunis, W.S., "Adaptive Velocity Estimators for Learning Control", International Conference on Control, Decision and Information Technologies (CoDIT), July 2024.
BibTeX TR2024-088 PDF- @inproceedings{Nikovski2024jul,
- author = {{Nikovski, Daniel and Yerazunis, William S.}},
- title = {Adaptive Velocity Estimators for Learning Control},
- booktitle = {International Conference on Control, Decision and Information Technologies (CoDIT)},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-088}
- }
- 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}
- }
- Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., Okura, Y., "Parametrized Maneuvers Governor for Decision Making in Automated Driving" in Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities., June 2024.
BibTeX TR2024-086 PDF- @incollection{DiCairano2024jun,
- author = {Di Cairano, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl and Okura, Yuichi}},
- title = {Parametrized Maneuvers Governor for Decision Making in Automated Driving},
- booktitle = {Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities.},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-086}
- }
- Greiff, M., Weiss, A., Berntorp, K., Di Cairano, S., "A Robust Invariant Set Planner For Quadrotors", European Control Conference (ECC), DOI: 10.23919/ECC64448.2024.10590943, June 2024.
BibTeX TR2024-081 PDF- @inproceedings{Greiff2024jun,
- author = {Greiff, Marcus and Weiss, Avishai and Berntorp, Karl and Di Cairano, Stefano}},
- title = {A Robust Invariant Set Planner For Quadrotors},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- month = jun,
- publisher = {IEEE},
- doi = {10.23919/ECC64448.2024.10590943},
- url = {https://www.merl.com/publications/TR2024-081}
- }
- Lu, Z., Wang, Y., Sakamoto, Y., Mou, S., "Distributed Co-Design of Motors and Motions for Robotic Manipulators", European Control Conference (ECC), DOI: 10.23919/ECC64448.2024.10590808, June 2024.
BibTeX TR2024-083 PDF- @inproceedings{Lu2024jun,
- author = {Lu, Zehui and Wang, Yebin and Sakamoto, Yusuke and Mou, Shaoshuai}},
- title = {Distributed Co-Design of Motors and Motions for Robotic Manipulators},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- month = jun,
- doi = {10.23919/ECC64448.2024.10590808},
- url = {https://www.merl.com/publications/TR2024-083}
- }
- Menner, M., Berntorp, K., "Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering", European Control Conference (ECC), DOI: 10.23919/ECC64448.2024.10590751, June 2024, pp. 2768-2773.
BibTeX TR2024-085 PDF- @inproceedings{Menner2024jun,
- author = {Menner, Marcel and Berntorp, Karl}},
- title = {Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- pages = {2768--2773},
- month = jun,
- doi = {10.23919/ECC64448.2024.10590751},
- url = {https://www.merl.com/publications/TR2024-085}
- }
- Nayak, S., Greiff, M., Raghunathan, A., Di Cairano, S., Vinod, A.P., "Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners", American Control Conference (ACC), June 2024.
BibTeX TR2024-078 PDF- @inproceedings{Nayak2024jun,
- author = {Nayak, Siddharth and Greiff, Marcus and Raghunathan, Arvind and Di Cairano, Stefano and Vinod, Abraham P.}},
- title = {Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-078}
- }
- Fujihashi, T., Koike-Akino, T., Corcodel, R., "Graph-Based Analog Joint Source Channel Coding for 3D Haptic Communication", IEEE International Conference on Communications (ICC), June 2024.
BibTeX TR2024-070 PDF- @inproceedings{Fujihashi2024jun,
- author = {Fujihashi, Takuya and Koike-Akino, Toshiaki and Corcodel, Radu}},
- title = {Graph-Based Analog Joint Source Channel Coding for 3D Haptic Communication},
- booktitle = {IEEE International Conference on Communications (ICC)},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-070}
- }
- 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), May 2024.
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,
- month = may,
- url = {https://www.merl.com/publications/TR2024-061}
- }
- Reiter, R., Quirynen, R., Diehl, M., Di Cairano, S., "Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2024.3400571, May 2024.
BibTeX TR2024-056 PDF- @article{Reiter2024may2,
- author = {Reiter, Rudolf and Quirynen, Rien and Diehl, Moritz and Di Cairano, Stefano}},
- title = {Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2024,
- month = may,
- doi = {10.1109/TCST.2024.3400571},
- url = {https://www.merl.com/publications/TR2024-056}
- }
- Schperberg, A., Tanaka, Y., Mowlavi, S., Xu, F., Balaji, B., Hong, D., "OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering", IEEE International Conference on Robotics and Automation (ICRA), May 2024.
BibTeX TR2024-054 PDF- @inproceedings{Schperberg2024may,
- author = {Schperberg, Alexander and Tanaka, Yusuke and Mowlavi, Saviz and Xu, Feng and Balaji, Bharathan and Hong, Dennis}},
- title = {OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- month = may,
- url = {https://www.merl.com/publications/TR2024-054}
- }
- Sinhmar, H., Greiff, M., Di Cairano, S., ,, "Practical and Safe Navigation Function Based Motion Planning of UAVs", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA57147.2024.10611255, May 2024.
BibTeX TR2024-055 PDF- @inproceedings{Sinhmar2024may,
- author = {Sinhmar, Himani and Greiff, Marcus and Di Cairano, Stefano and }},
- title = {Practical and Safe Navigation Function Based Motion Planning of UAVs},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA57147.2024.10611255},
- url = {https://www.merl.com/publications/TR2024-055}
- }
- 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), May 2024.
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,
- month = may,
- url = {https://www.merl.com/publications/TR2024-053}
- }
- Lin, H., Corcodel, R., Zhao, D., "Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly", IEEE International Conference on Robotics and Automation (ICRA), May 2024.
BibTeX TR2024-051 PDF- @inproceedings{Lin2024may2,
- author = {Lin, Haohong and Corcodel, Radu and Zhao, Ding}},
- title = {Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- month = may,
- url = {https://www.merl.com/publications/TR2024-051}
- }