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Learning Control from Raw Position Measurements


Jan 30, 2023
Fabio Amadio, Alberto Dalla Libera, Daniel Nikovski, Ruggero Carli, Diego Romeres

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* Accepted at the 2023 American Control Conference (ACC) 

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Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control


Dec 02, 2022
Devesh K. Jha, Siddarth Jain, Diego Romeres, William Yerazunis, Daniel Nikovski

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Active Exploration for Robotic Manipulation


Oct 23, 2022
Tim Schneider, Boris Belousov, Georgia Chalvatzaki, Diego Romeres, Devesh K. Jha, Jan Peters

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* Published without appendix at "International Conference on Intelligent Robots and Systems (IROS)" 2022 

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Constrained Dynamic Movement Primitives for Safe Learning of Motor Skills


Sep 28, 2022
Seiji Shaw, Devesh K. Jha, Arvind Raghunathan, Radu Corcodel, Diego Romeres, George Konidaris, Daniel Nikovski

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Design of Adaptive Compliance Controllers for Safe Robotic Assembly


Apr 22, 2022
Devesh K. Jha, Diego Romeres, Siddarth Jain, William Yerazunis, Daniel Nikovski

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* 8 pages, 10 figures 

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Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization


Mar 22, 2022
Yuki Shirai, Devesh K. Jha, Arvind Raghunathan, Diego Romeres

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* Accepted to the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022) 

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PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation


Mar 18, 2022
Arvind Raghunathan, Devesh K. Jha, Diego Romeres

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* 7 pages, ICRA22. arXiv admin note: substantial text overlap with arXiv:2106.03220 

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Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation


Mar 05, 2022
Yuki Shirai, Devesh K. Jha, Arvind Raghunathan, Diego Romeres

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* Under review at IROS 2022 
* 9 pages, 9 figures 

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Imitation and Supervised Learning of Compliance for Robotic Assembly


Nov 20, 2021
Devesh K. Jha, Diego Romeres, William Yerazunis, Daniel Nikovski

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* 8 pages, 7 figures 

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Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units


Jun 21, 2021
Shiyu Jin, Diego Romeres, Arvind Ragunathan, Devesh K. Jha, Masayoshi Tomizuka

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