publications

2026

1. ICRA

   PPGuide: Steering Diffusion Policies with Performance Predictive Guidance

   Zixing Wang, Devesh K. Jha, and Diego Romeres

   In IEEE International Conference on Robotics and Automation (ICRA), 2026

   Bib

   @inproceedings{wang2026ppguide,
     title = {PPGuide: Steering Diffusion Policies with Performance Predictive Guidance},
     author = {Wang, Zixing and Jha, Devesh K. and Romeres, Diego},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2026}
   }

2. ICRA

   Find the Fruit: Designing a Zero-Shot Sim2Real Deep RL Planner for Occlusion Aware Plant Manipulation

   N. Subedi, H. Yang, Devesh K. Jha, and 1 more author

   In IEEE International Conference on Robotics and Automation (ICRA), 2026

   Bib

   @inproceedings{subedi2026fruit,
     title = {Find the Fruit: Designing a Zero-Shot Sim2Real Deep RL Planner for Occlusion Aware Plant Manipulation},
     author = {Subedi, N. and Yang, H. and Jha, Devesh K. and Sarkar, S.},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2026}
   }

3. RA-L

   Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations

   Yuki Shirai, Kei Ota, Devesh K. Jha, and 1 more author

   IEEE Robotics and Automation Letters, 2026

   Bib

   @article{shirai2026pivoting,
     title = {Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations},
     author = {Shirai, Yuki and Ota, Kei and Jha, Devesh K. and Romeres, Diego},
     journal = {IEEE Robotics and Automation Letters},
     year = {2026}
   }

4. RA-L

   Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing

   Mark Merwe, Kei Ota, Nima Fazeli, and 2 more authors

   IEEE Robotics and Automation Letters, 2026

   Bib

   @article{vandermerwe2026tactile,
     title = {Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing},
     author = {Van der Merwe, Mark and Ota, Kei and Fazeli, Nima and Berenson, Dmitry and Jha, Devesh K.},
     journal = {IEEE Robotics and Automation Letters},
     year = {2026}
   }

2025

1. CoRL

   In-Context Iterative Policy Improvement for Dynamic Manipulation

   Mark Merwe and Devesh K. Jha

   In Conference on Robot Learning (CoRL), 2025

   Bib

   @inproceedings{vandermerwe2025incontext,
     title = {In-Context Iterative Policy Improvement for Dynamic Manipulation},
     author = {Van der Merwe, Mark and Jha, Devesh K.},
     booktitle = {Conference on Robot Learning (CoRL)},
     year = {2025}
   }

2. IROS

   RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation

   Shivam Vats, Devesh K. Jha, O. Kromer, and 2 more authors

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

   Bib

   @inproceedings{vats2025recoverychaining,
     title = {RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation},
     author = {Vats, Shivam and Jha, Devesh K. and Kromer, O. and Likhachev, Maxim and Romeres, Diego},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2025}
   }

3. IROS

   Analytic Conditions for Efficient Collision-Aware Trajectory Optimization

   Akshay Jaitly, Yuki Shirai, Kei Ota, and 1 more author

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

   Bib

   @inproceedings{jaitly2025analytic,
     title = {Analytic Conditions for Efficient Collision-Aware Trajectory Optimization},
     author = {Jaitly, Akshay and Shirai, Yuki and Ota, Kei and Jha, Devesh K.},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2025}
   }

4. ICRA

   Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation Using Tight Convex Relaxations

   Yuki Shirai, Arvind Raghunathan, and Devesh K. Jha

   In IEEE International Conference on Robotics and Automation (ICRA), 2025

   Bib

   @inproceedings{shirai2025hierarchical,
     title = {Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation Using Tight Convex Relaxations},
     author = {Shirai, Yuki and Raghunathan, Arvind and Jha, Devesh K.},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2025}
   }

5. ICRA

   Finetuning Diffusion Policies Using Human Preferences

   Yuxin Chen, Devesh K. Jha, Masayoshi Tomizuka, and 1 more author

   In IEEE International Conference on Robotics and Automation (ICRA), 2025

   Bib

   @inproceedings{chen2025finetuning,
     title = {Finetuning Diffusion Policies Using Human Preferences},
     author = {Chen, Yuxin and Jha, Devesh K. and Tomizuka, Masayoshi and Romeres, Diego},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2025}
   }

2024

1. IROS

   Autonomous Robotic Assembly: From Part Singulation to Precise Assembly

   Devesh K. Jha, Kei Ota, Siddarth Jain, and 5 more authors

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

   Bib

   @inproceedings{jha2024assembly,
     title = {Autonomous Robotic Assembly: From Part Singulation to Precise Assembly},
     author = {Jha, Devesh K. and Ota, Kei and Jain, Siddarth and Yerazunis, Bill and Corcodel, Radu and Shukla, Yash and Bronars, Antonia and Romeres, Diego},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2024}
   }

2. ICRA

   Tactile Estimation of Extrinsic Contact Patch for Stable Placement

   Kei Ota, Devesh K. Jha, Krishna Murthy Jatavallabhula, and 2 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2024

   Bib

   @inproceedings{ota2024tactile,
     title = {Tactile Estimation of Extrinsic Contact Patch for Stable Placement},
     author = {Ota, Kei and Jha, Devesh K. and Jatavallabhula, Krishna Murthy and Kanezaki, Asako and Tenenbaum, Joshua B.},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2024}
   }

3. ICRA

   Robust In-Hand Manipulation with Extrinsic Contacts

   Boyuan Liang, Kei Ota, Masayoshi Tomizuka, and 1 more author

   In IEEE International Conference on Robotics and Automation (ICRA), 2024

   Bib

   @inproceedings{liang2024inhand,
     title = {Robust In-Hand Manipulation with Extrinsic Contacts},
     author = {Liang, Boyuan and Ota, Kei and Tomizuka, Masayoshi and Jha, Devesh K.},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2024}
   }

4. ICRA

   Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks

   Lingfeng Sun, Devesh K. Jha, Chiori Hori, and 5 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2024

   Bib

   @inproceedings{sun2024interactive,
     title = {Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks},
     author = {Sun, Lingfeng and Jha, Devesh K. and Hori, Chiori and Jain, Siddarth and Corcodel, Radu and Zhu, Xinghao and Tomizuka, Masayoshi and Romeres, Diego},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2024}
   }

2023

1. RSS

   Tactile-Filter: Interactive Tactile Perception for Part Mating

   Kei Ota, Devesh K. Jha, Hsiao-Yu Tung, and 1 more author

   In Robotics: Science and Systems (RSS), 2023

   Bib

   @inproceedings{ota2023tactilefilter,
     title = {Tactile-Filter: Interactive Tactile Perception for Part Mating},
     author = {Ota, Kei and Jha, Devesh K. and Tung, Hsiao-Yu and Tenenbaum, Joshua B.},
     booktitle = {Robotics: Science and Systems (RSS)},
     year = {2023}
   }

2. RSS

   Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning

   Mengchao Zhang, Devesh K. Jha, Arvind Raghunathan, and 1 more author

   In Robotics: Science and Systems (RSS), 2023

   Bib

   @inproceedings{zhang2023simultaneous,
     title = {Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning},
     author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
     booktitle = {Robotics: Science and Systems (RSS)},
     year = {2023}
   }

3. ICRA

   Simultaneous Tactile Estimation and Control of Extrinsic Contact

   Sangwoon Kim, Devesh K. Jha, Diego Romeres, and 1 more author

   In IEEE International Conference on Robotics and Automation (ICRA), 2023

   Bib

   @inproceedings{kim2023simultaneous,
     title = {Simultaneous Tactile Estimation and Control of Extrinsic Contact},
     author = {Kim, Sangwoon and Jha, Devesh K. and Romeres, Diego and Rodriguez, Alberto},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2023}
   }

4. T-RO

   Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization

   Yuki Shirai, Devesh K. Jha, and Arvind Raghunathan

   IEEE Transactions on Robotics, 2023

   Bib

   @article{shirai2023robustpivoting,
     title = {Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization},
     author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
     journal = {IEEE Transactions on Robotics},
     year = {2023}
   }

5. T-RO

   Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation with High Fidelity Geometry

   Mengchao Zhang, Devesh K. Jha, Arvind Raghunathan, and 1 more author

   IEEE Transactions on Robotics, 2023

   Bib

   @article{zhang2023highfidelity,
     title = {Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation with High Fidelity Geometry},
     author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
     journal = {IEEE Transactions on Robotics},
     year = {2023}
   }

2022

1. ICRA

   PyRoboCOP: Python-based Robot Control and Optimization Package for Manipulation

   Arvind U. Raghunathan, Devesh K. Jha, and Diego Romeres

   In IEEE International Conference on Robotics and Automation (ICRA), 2022

   Bib

   @inproceedings{raghunathan2022pyrobocop,
     title = {PyRoboCOP: Python-based Robot Control and Optimization Package for Manipulation},
     author = {Raghunathan, Arvind U. and Jha, Devesh K. and Romeres, Diego},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2022}
   }

2021

1. ICRA

   Tactile RL for Insertion: Generalization to Objects of Unknown Geometry

   Siyuan Dong, Devesh K. Jha, Diego Romeres, and 2 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2021

   Bib

   @inproceedings{dong2021tactilerl,
     title = {Tactile RL for Insertion: Generalization to Objects of Unknown Geometry},
     author = {Dong, Siyuan and Jha, Devesh K. and Romeres, Diego and Nikovski, Daniel and Rodriguez, Alberto},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2021}
   }

2020

1. ICML

   Can Increasing Input Dimensionality Improve Deep Reinforcement Learning?

   Kei Ota, T. Oiki, Devesh K. Jha, and 2 more authors

   In International Conference on Machine Learning (ICML), 2020

   Bib

   @inproceedings{ota2020increasing,
     title = {Can Increasing Input Dimensionality Improve Deep Reinforcement Learning?},
     author = {Ota, Kei and Oiki, T. and Jha, Devesh K. and Mariyama, T. and Nikovski, Daniel},
     booktitle = {International Conference on Machine Learning (ICML)},
     year = {2020}
   }

2019

1. JDSMC

   Imitation of Demonstrations Using Bayesian Filtering with Nonparametric Data-Driven Models

   Nurali Virani, Devesh K. Jha, Z. Yuan, and 2 more authors

   ASME Journal of Dynamic Systems, Measurement, and Control, 2019

   Rudolf Kalman Best Paper Award 2019, ASME DSCD

   Bib

   @article{virani2019imitation,
     title = {Imitation of Demonstrations Using Bayesian Filtering with Nonparametric Data-Driven Models},
     author = {Virani, Nurali and Jha, Devesh K. and Yuan, Z. and Shekhawat, I. and Ray, Asok},
     journal = {ASME Journal of Dynamic Systems, Measurement, and Control},
     year = {2019},
     note = {Rudolf Kalman Best Paper Award 2019, ASME DSCD}
   }

2. ICML

   Game Theoretic Optimization via Gradient-based Nikaido Isoda Function

   Arvind Raghunathan, Anoop Cherian, and Devesh K. Jha

   In International Conference on Machine Learning (ICML), 2019

   Bib

   @inproceedings{raghunathan2019game,
     title = {Game Theoretic Optimization via Gradient-based Nikaido Isoda Function},
     author = {Raghunathan, Arvind and Cherian, Anoop and Jha, Devesh K.},
     booktitle = {International Conference on Machine Learning (ICML)},
     year = {2019}
   }

3. Sci. Rep.

   Deep Neural Network Inverse Design of Integrated Nanophotonic Devices

   M. H. Tahersima, K. Kojima, T. Koike-Akino, and 4 more authors

   Nature Scientific Reports, 2019

   Bib

   @article{tahersima2019deep,
     title = {Deep Neural Network Inverse Design of Integrated Nanophotonic Devices},
     author = {Tahersima, M. H. and Kojima, K. and Koike-Akino, T. and Jha, Devesh K. and Wang, B. and Lin, C. and Parsons, K.},
     journal = {Nature Scientific Reports},
     year = {2019}
   }