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

Jun 06, 2021
Arvind U. Raghunathan, Devesh K. Jha, Diego Romeres

* Under review at IJRR 

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Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models

May 02, 2021
Alberto Dalla Libera, Fabio Amadio, Daniel Nikovski, Ruggero Carli, Diego Romeres

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Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry

Apr 02, 2021
Siyuan Dong, Devesh K. Jha, Diego Romeres, Sangwoon Kim, Daniel Nikovski, Alberto Rodriguez

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Model-Based Policy Search Using Monte Carlo Gradient Estimation with Real Systems Application

Jan 28, 2021
Fabio Amadio, Alberto Dalla Libera, Riccardo Antonello, Daniel Nikovski, Ruggero Carli, Diego Romeres

* Submitted to IEEE Transactions on Robotics 

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Model-based Policy Search for Partially Measurable Systems

Jan 21, 2021
Fabio Amadio, Alberto Dalla Libera, Ruggero Carli, Daniel Nikovski, Diego Romeres

* Accepted to 3rd Robot Learning Workshop: Grounding Machine Learning Development in the Real World (NeurIPS 2020) 

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Towards Human-Level Learning of Complex Physical Puzzles

Nov 14, 2020
Kei Ota, Devesh K. Jha, Diego Romeres, Jeroen van Baar, Kevin A. Smith, Takayuki Semitsu, Tomoaki Oiki, Alan Sullivan, Daniel Nikovski, Joshua B. Tenenbaum

* 10 pages, 7 figures 

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Understanding Multi-Modal Perception Using Behavioral Cloning for Peg-In-a-Hole Insertion Tasks

Jul 22, 2020
Yifang Liu, Diego Romeres, Devesh K. Jha, Daniel Nikovski

* Published at a RSS20 workshop 

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Model-Based Reinforcement Learning for Physical Systems Without Velocity and Acceleration Measurements

Feb 25, 2020
Alberto Dalla Libera, Diego Romeres, Devesh K. Jha, Bill Yerazunis, Daniel Nikovski

* Accepted at RA-L 

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Local Policy Optimization for Trajectory-Centric Reinforcement Learning

Jan 22, 2020
Patrik Kolaric, Devesh K. Jha, Arvind U. Raghunathan, Frank L. Lewis, Mouhacine Benosman, Diego Romeres, Daniel Nikovski

* ICRA 2020 

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Quasi-Newton Trust Region Policy Optimization

Dec 26, 2019
Devesh Jha, Arvind Raghunathan, Diego Romeres

* 3rd Conference on Robot Learning (CoRL 2019) 

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Learning Deep Parameterized Skills from Demonstration for Re-targetable Visuomotor Control

Oct 23, 2019
Jonathan Chang, Nishanth Kumar, Sean Hastings, Aaron Gokaslan, Diego Romeres, Devesh Jha, Daniel Nikovski, George Konidaris, Stefanie Tellex

* Preprint. Currently under review. * denotes equal contribution 

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Semiparametrical Gaussian Processes Learning of Forward Dynamical Models for Navigating in a Circular Maze

Sep 18, 2018
Diego Romeres, Devesh Jha, Alberto Dalla Libera, William Yerazunis, Daniel Nikovski

* 7 pages including the references, 5 figures. Changed title, improved the structure of the article and the images 

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Sim-to-Real Transfer Learning using Robustified Controllers in Robotic Tasks involving Complex Dynamics

Sep 17, 2018
Jeroen van Baar, Alan Sullivan, Radu Cordorel, Devesh Jha, Diego Romeres, Daniel Nikovski

* 7 pages 

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Derivative-free online learning of inverse dynamics models

Sep 13, 2018
Diego Romeres, Mattia Zorzi, Raffaello Camoriano, Silvio Traversaro, Alessandro Chiuso

* 14 pages, 11 figures 

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Online semi-parametric learning for inverse dynamics modeling

Oct 09, 2016
Diego Romeres, Mattia Zorzi, Raffaello Camoriano, Alessandro Chiuso

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On-line Bayesian System Identification

Jan 17, 2016
Diego Romeres, Giulia Prando, Gianluigi Pillonetto, Alessandro Chiuso

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Identification of stable models via nonparametric prediction error methods

Jul 02, 2015
Diego Romeres, Gianluigi Pillonetto, Alessandro Chiuso

* number of pages = 6, number of figures = 3 

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