publications

First author

1. NeurIPS

   

   Enhancing Tactile-based Reinforcement Learning for Robotic Control

   Elle Miller, Trevor McInroe, David Abel, and 2 more authors

   2025

   Website
2. ICRA

   

   Unknown Object Grasping for Assistive Robotics

   Elle Miller, Maximilian Durner, Matthias Humt, and 5 more authors

   2024

   Website
3. MNRAS

   

   The formation of wide exoKuiper belts from migrating dust traps

   E Miller, S Marino, S M Stammler, and 4 more authors

   Monthly Notices of the Royal Astronomical Society, Oct 2021

   Abs

   The question of what determines the width of Kuiper belt analogues (exoKuiper belts) is an open one. If solved, this understanding would provide valuable insights into the architecture, dynamics, and formation of exoplanetary systems. Recent observations by ALMA have revealed an apparent paradox in this field, the presence of radially narrow belts in protoplanetary discs that are likely the birthplaces of planetesimals, and exoKuiper belts nearly four times as wide in mature systems. If the parent planetesimals of this type of debris disc indeed form in these narrow protoplanetary rings via streaming instability where dust is trapped, we propose that this width dichotomy could naturally arise if these dust traps form planetesimals whilst migrating radially, e.g. as caused by a migrating planet. Using the dust evolution software dustpy, we find that if the initial protoplanetary disc and trap conditions favour planetesimal formation, dust can still effectively accumulate and form planetesimals as the trap moves. This leads to a positive correlation between the inward radial speed and final planetesimal belt width, forming belts up to ∼100au over 10 Myr of evolution. We show that although planetesimal formation is most efficient in low-viscosity (α = 10−4) discs with steep dust traps to trigger the streaming instability, the large widths of most observed planetesimal belts constrain α to values ≥4 × 10−4 at tens of au, otherwise the traps cannot migrate far enough. Additionally, the large spread in the widths and radii of exoKuiper belts could be due to different trap migration speeds (or protoplanetary disc lifetimes) and different starting locations, respectively. Our work serves as a first step to link exoKuiper belts and rings in protoplanetary discs.

Co-author

1. 

   Few-shot semantic learning for robust multi-biome 3d semantic mapping in off-road environments

   Deegan Atha, Xianmei Lei, Shehryar Khattak, and 6 more authors

   arXiv preprint arXiv:2411.06632, Oct 2024

2. 

   Learning Long-Horizon Robot Manipulation Skills via Privileged Action

   XiaoFeng Mao, Yucheng Xu, Zhaole Sun, and 3 more authors

   arXiv preprint arXiv:2502.15442, Oct 2025

3. 

   DemoBot: Efficient Learning of Bimanual Manipulation with Dexterous Hands From Third-Person Human Videos

   Yucheng Xu, XiaoFeng Mao, Elle Miller, and 4 more authors

   arXiv preprint arXiv:2601.01651, Oct 2026

4. 

   Assistax: A Hardware-Accelerated Reinforcement Learning Benchmark for Assistive Robotics

   L. Hinckeldey, E. Fosong, Elle Miller, and 4 more authors

   arXiv preprint arXiv:2507.21638, Oct 2025