Russ Tedrake

283 papers A* 59A 15B 1C 22Misc 6Journal 128Unranked 48
YearRankTypeTitle / Venue / Authors
2026 J jnl
A Framework for Combining Optimization-Based and Analytic Inverse Kinematics.
CoRR
Thomas Cohn, Lihan Tang, Alexandre Amice, Russ Tedrake
2026 J jnl
A careful examination of large behavior models for multitask dexterous manipulation.
Sci. Robotics
Jose A. Barreiros, Andrew Beaulieu, Aditya Bhat, Rick Cory, Eric Cousineau, Hongkai Dai, Ching-Hsin Fang, Kunimatsu Hashimoto, Muhammad Zubair Irshad, Masha Itkina, Naveen Kuppuswamy, Kuan-Hui Lee, Katherine Liu, Dale McConachie, Ian McMahon, Haruki Nishimura, Calder Phillips-Grafflin, Charles Richter, Paarth Shah, Krishnan Srinivasan, Blake Wulfe, Chen Xu, Mengchao Zhang, Alex Alspach, Maya Angeles, Kushal Arora, Vitor Campagnolo Guizilini, Alejandro M. Castro, Dian Chen, Ting-Sheng Chu, Sam Creasey, Sean Curtis, Richard Denitto, Emma Dixon, Eric Dusel, Matthew Ferreira, Aimee Goncalves, Grant Gould, Damrong Guoy, Swati Gupta, Xuchen Han, Kyle Hatch, Brendan Hathaway, Allison Henry, Hillel Hochsztein, Phoebe Horgan, Shun Iwase, Donovon Jackson, Siddharth Karamcheti, Sedrick Keh, Joseph Masterjohn, Masayuki Masuda, Jean Mercat, Patrick Tree Miller, Paul Mitiguy, Tony Nguyen, Jeremy Nimmer, Yuki Noguchi, Reko Ong, Aykut Özgün Önol, Owen Pfannenstiehl, Richard Poyner, Leticia Priebe Rocha, Gordon Richardson, Christopher Rodriguez, Derick Seale, Michael A. Sherman, Mariah Smith-Jones, David Tago, Pavel Tokmakov, Matthew Tran, Basile Van Hoorick, Igor Vasiljevic, Sergey Zakharov, Mark Zolotas, Rares Ambrus, Kerri Fetzer-Borelli, Benjamin Burchfiel, Hadas Kress-Gazit, Siyuan Feng, Stacie Ford, Russ Tedrake
2026 J jnl
Cost-Driven Representation Learning for Linear Quadratic Gaussian Control: Part II.
CoRR
Yi Tian, Kaiqing Zhang, Russ Tedrake, Suvrit Sra
2026 J jnl
SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes.
CoRR
Nicholas Pfaff, Thomas Cohn, Sergey Zakharov, Rick Cory, Russ Tedrake
2025 J jnl
"Data will solve robotics and automation: True or false?": A debate.
Sci. Robotics
Nancy M. Amato, Seth Hutchinson, Animesh Garg, Aude Billard, Daniela Rus, Russ Tedrake, Frank Park, Ken Goldberg
2025 A* conf
A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling.
ICRA
Lujie Yang, Tobia Marcucci, Pablo A. Parrilo, Russ Tedrake
2025 J jnl
A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling.
CoRR
Lujie Yang, Tobia Marcucci, Pablo A. Parrilo, Russ Tedrake
2025 J jnl
Dexterous Contact-Rich Manipulation via the Contact Trust Region.
CoRR
H. J. Terry Suh, Tao Pang, Tong Zhao, Russ Tedrake
2025 J jnl
Diffusion policy: Visuomotor policy learning via action diffusion.
Int. J. Robotics Res.
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, Shuran Song
2025 J jnl
Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels.
CoRR
Adam Wei, Abhinav Agarwal, Boyuan Chen, Rohan Bosworth, Nicholas Pfaff, Russ Tedrake
2025 A conf
Empirical Analysis of Sim-and-Real Cotraining of Diffusion Policies For Planar Pushing from Pixels.
IROS
Adam Wei, Abhinav Agarwal, Boyuan Chen, Rohan Bosworth, Nicholas Pfaff, Russ Tedrake
2025 A* conf
History-Guided Video Diffusion.
ICML
Kiwhan Song, Boyuan Chen, Max Simchowitz, Yilun Du, Russ Tedrake, Vincent Sitzmann
2025 J jnl
History-Guided Video Diffusion.
CoRR
Kiwhan Song, Boyuan Chen, Max Simchowitz, Yilun Du, Russ Tedrake, Vincent Sitzmann
2025 J jnl
How Well do Diffusion Policies Learn Kinematic Constraint Manifolds?
CoRR
Lexi Foland, Thomas Cohn, Adam Wei, Nicholas Pfaff, Boyuan Chen, Russ Tedrake
2025 J jnl
Large Video Planner Enables Generalizable Robot Control.
CoRR
Boyuan Chen, Tianyuan Zhang, Haoran Geng, Kiwhan Song, Caiyi Zhang, Peihao Li, William T. Freeman, Jitendra Malik, Pieter Abbeel, Russ Tedrake, Vincent Sitzmann, Yilun Du
2025 J jnl
Mixed Discrete and Continuous Planning using Shortest Walks in Graphs of Convex Sets.
CoRR
Savva Morozov, Tobia Marcucci, Bernhard Paus Graesdal, Alexandre Amice, Pablo A. Parrilo, Russ Tedrake
2025 J jnl
Non-Euclidean motion planning with graphs of geodesically convex sets.
Int. J. Robotics Res.
Thomas Cohn, Mark Petersen, Max Simchowitz, Russ Tedrake
2025 J jnl
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization.
CoRR
Lujie Yang, H. J. Terry Suh, Tong Zhao, Bernhard Paus Graesdal, Tarik Kelestemur, Jiuguang Wang, Tao Pang, Russ Tedrake
2025 J jnl
Planning Shorter Paths in Graphs of Convex Sets by Undistorting Parametrized Configuration Spaces.
IEEE Robotics Autom. Lett.
Shruti Garg, Thomas Cohn, Russ Tedrake
2025 — conf
Polytope Inner Approximations with Fewer Faces Subject to Minimum-Volume, Point-Inclusion, and Set-Intersection Constraints.
CDC
Rebecca H. Jiang, Ravi Gondhalekar, Russ Tedrake
2025 A* conf
Proximity and Visuotactile Point Cloud Fusion for Contact Patches in Extreme Deformation.
ICRA
Jessica Yin, Paarth Shah, Naveen Kuppuswamy, Andrew Beaulieu, Avinash Uttamchandani, Alejandro M. Castro, James H. Pikul, Russ Tedrake
2025 A conf
Sampling-Based Motion Planning with Discrete Configuration-Space Symmetries.
IROS
Thomas Cohn, Russ Tedrake
2025 J jnl
Sampling-Based Motion Planning with Discrete Configuration-Space Symmetries.
CoRR
Thomas Cohn, Russ Tedrake
2025 A conf
Scalable Real2Sim: Physics-Aware Asset Generation Via Robotic Pick-and-Place Setups.
IROS
Nicholas Pfaff, Evelyn Fu, Jeremy Binagia, Phillip Isola, Russ Tedrake
2025 J jnl
Scalable Real2Sim: Physics-Aware Asset Generation Via Robotic Pick-and-Place Setups.
CoRR
Nicholas Pfaff, Evelyn Fu, Jeremy Binagia, Phillip Isola, Russ Tedrake
2025 A* conf
Should VLMs be Pre-trained with Image Data?
ICLR
Sedrick Keh, Jean Mercat, Samir Yitzhak Gadre, Kushal Arora, Igor Vasiljevic, Benjamin Burchfiel, Shuran Song, Russ Tedrake, Thomas Kollar, Ludwig Schmidt, Achal Dave
2025 J jnl
Should VLMs be Pre-trained with Image Data?
CoRR
Sedrick Keh, Jean Mercat, Samir Yitzhak Gadre, Kushal Arora, Igor Vasiljevic, Benjamin Burchfiel, Shuran Song, Russ Tedrake, Thomas Kollar, Ludwig Schmidt, Achal Dave
2025 J jnl
Steerable Scene Generation with Post Training and Inference-Time Search.
CoRR
Nicholas Pfaff, Hongkai Dai, Sergey Zakharov, Shun Iwase, Russ Tedrake
2025 J jnl
Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning.
CoRR
Peter Werner, Richard Cheng, Tom Stewart, Russ Tedrake, Daniela Rus
2024 A* conf
Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs.
ICRA
Peter Werner, Alexandre Amice, Tobia Marcucci, Daniela Rus, Russ Tedrake
2024 J jnl
Certified polyhedral decompositions of collision-free configuration space.
Int. J. Robotics Res.
Hongkai Dai, Alexandre Amice, Peter Werner, Annan Zhang, Russ Tedrake
2024 A* conf
Certifying Bimanual RRT Motion Plans in a Second.
ICRA
Alexandre Amice, Peter Werner, Russ Tedrake
2024 A* conf
Constrained Bimanual Planning with Analytic Inverse Kinematics.
ICRA
Thomas Cohn, Seiji Shaw, Max Simchowitz, Russ Tedrake
2024 A* conf
Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion.
NeurIPS
Boyuan Chen, Diego Marti Monso, Yilun Du, Max Simchowitz, Russ Tedrake, Vincent Sitzmann
2024 J jnl
Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion.
CoRR
Boyuan Chen, Diego Marti Monso, Yilun Du, Max Simchowitz, Russ Tedrake, Vincent Sitzmann
2024 J jnl
Fast Path Planning Through Large Collections of Safe Boxes.
IEEE Trans. Robotics
Tobia Marcucci, Parth Nobel, Russ Tedrake, Stephen P. Boyd
2024 J jnl
Faster Algorithms for Growing Collision-Free Convex Polytopes in Robot Configuration Space.
CoRR
Peter Werner, Thomas Cohn, Rebecca H. Jiang, Tim Seyde, Max Simchowitz, Russ Tedrake, Daniela Rus
2024 J jnl
GCS*: Forward Heuristic Search on Implicit Graphs of Convex Sets.
CoRR
Shao Y. C. Chia, Rebecca H. Jiang, Bernhard P. Graesdal, Leslie Pack Kaelbling, Russ Tedrake
2024 J jnl
Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation for Efficient Synthesis and Verification.
CoRR
Lujie Yang, Hongkai Dai, Zhouxing Shi, Cho-Jui Hsieh, Russ Tedrake, Huan Zhang
2024 A* conf
Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation.
ICML
Lujie Yang, Hongkai Dai, Zhouxing Shi, Cho-Jui Hsieh, Russ Tedrake, Huan Zhang
2024 J jnl
Multi-Query Shortest-Path Problem in Graphs of Convex Sets.
CoRR
Savva Morozov, Tobia Marcucci, Alexandre Amice, Bernhard P. Graesdal, Rohan Bosworth, Pablo A. Parrilo, Russ Tedrake
2024 Misc conf
OpenVLA: An Open-Source Vision-Language-Action Model.
CoRL
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Paul Foster, Pannag R. Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, Chelsea Finn
2024 J jnl
OpenVLA: An Open-Source Vision-Language-Action Model.
CoRR
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Paul Foster, Grace Lam, Pannag Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, Chelsea Finn
2024 J jnl
Planning Shorter Paths in Graphs of Convex Sets by Undistorting Parametrized Configuration Spaces.
CoRR
Shruti Garg, Thomas Cohn, Russ Tedrake
2024 — conf
PoCo: Policy Composition from and for Heterogeneous Robot Learning.
Robotics: Science and Systems
Lirui Wang, Jialiang Zhao, Yilun Du, Edward H. Adelson, Russ Tedrake
2024 J jnl
PoCo: Policy Composition from and for Heterogeneous Robot Learning.
CoRR
Lirui Wang, Jialiang Zhao, Yilun Du, Edward H. Adelson, Russ Tedrake
2024 A* conf
Robot Fleet Learning via Policy Merging.
ICLR
Lirui Wang, Kaiqing Zhang, Allan Zhou, Max Simchowitz, Russ Tedrake
2024 J jnl
Shortest Paths in Graphs of Convex Sets.
SIAM J. Optim.
Tobia Marcucci, Jack Umenberger, Pablo A. Parrilo, Russ Tedrake
2024 — conf
Towards Tight Convex Relaxations for Contact-Rich Manipulation.
Robotics: Science and Systems
Bernhard Paus Graesdal, Shao Yuan Chew Chia, Tobia Marcucci, Savva Morozov, Alexandre Amice, Pablo A. Parrilo, Russ Tedrake
2024 J jnl
Towards Tight Convex Relaxations for Contact-Rich Manipulation.
CoRR
Bernhard P. Graesdal, Shao Y. C. Chia, Tobia Marcucci, Savva Morozov, Alexandre Amice, Pablo A. Parrilo, Russ Tedrake
2024 — conf
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots.
Robotics: Science and Systems
Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, Shuran Song
2024 J jnl
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots.
CoRR
Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, Shuran Song
2024 A conf
Using Graphs of Convex Sets to Guide Nonconvex Trajectory Optimization.
IROS
David von Wrangel, Russ Tedrake
2023 J jnl
Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares.
IEEE Robotics Autom. Lett.
Lujie Yang, Hongkai Dai, Alexandre Amice, Russ Tedrake
2023 J jnl
Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs.
CoRR
Peter Werner, Alexandre Amice, Tobia Marcucci, Daniela Rus, Russ Tedrake
2023 — conf
Can Direct Latent Model Learning Solve Linear Quadratic Gaussian Control?
L4DC
Yi Tian, Kaiqing Zhang, Russ Tedrake, Suvrit Sra
2023 J jnl
Certified Polyhedral Decompositions of Collision-Free Configuration Space.
CoRR
Hongkai Dai, Alexandre Amice, Peter Werner, Annan Zhang, Russ Tedrake
2023 J jnl
Certifying Bimanual RRT Motion Plans in a Second.
CoRR
Alexandre Amice, Peter Werner, Russ Tedrake
2023 J jnl
Constrained Bimanual Planning with Analytic Inverse Kinematics.
CoRR
Thomas Cohn, Seiji Shaw, Max Simchowitz, Russ Tedrake
2023 A* conf
Does Learning from Decentralized Non-IID Unlabeled Data Benefit from Self Supervision?
ICLR
Lirui Wang, Kaiqing Zhang, Yunzhu Li, Yonglong Tian, Russ Tedrake
2023 J jnl
Fast Path Planning Through Large Collections of Safe Boxes.
CoRR
Tobia Marcucci, Parth Nobel, Russ Tedrake, Stephen P. Boyd
2023 Misc conf
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching.
CoRL
H. J. Terry Suh, Glen Chou, Hongkai Dai, Lujie Yang, Abhishek Gupta, Russ Tedrake
2023 J jnl
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching.
CoRR
H. J. Terry Suh, Glen Chou, Hongkai Dai, Lujie Yang, Abhishek Gupta, Russ Tedrake
2023 J jnl
Fleet Policy Learning via Weight Merging and An Application to Robotic Tool-Use.
CoRR
Lirui Wang, Kaiqing Zhang, Allan Zhou, Max Simchowitz, Russ Tedrake
2023 J jnl
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-Dynamic Contact Models.
IEEE Trans. Robotics
Tao Pang, H. J. Terry Suh, Lujie Yang, Russ Tedrake
2023 J jnl
Growing Convex Collision-Free Regions in Configuration Space using Nonlinear Programming.
CoRR
Mark Petersen, Russ Tedrake
2023 J jnl
Motion planning around obstacles with convex optimization.
Sci. Robotics
Tobia Marcucci, Mark Petersen, David von Wrangel, Russ Tedrake
2023 — conf
Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets.
Robotics: Science and Systems
Thomas Cohn, Mark Petersen, Max Simchowitz, Russ Tedrake
2023 J jnl
Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets.
CoRR
Thomas Cohn, Mark Petersen, Max Simchowitz, Russ Tedrake
2023 A* conf
Provable Guarantees for Generative Behavior Cloning: Bridging Low-Level Stability and High-Level Behavior.
NeurIPS
Adam Block, Ali Jadbabaie, Daniel Pfrommer, Max Simchowitz, Russ Tedrake
2023 J jnl
Proximity and Visuotactile Point Cloud Fusion for Contact Patches in Extreme Deformation.
CoRR
Jessica Yin, Paarth Shah, Naveen Kuppuswamy, Andrew Beaulieu, Avinash Uttamchandani, Alejandro M. Castro, James H. Pikul, Russ Tedrake
2023 A* conf
Smoothed Online Learning for Prediction in Piecewise Affine Systems.
NeurIPS
Adam Block, Max Simchowitz, Russ Tedrake
2023 J jnl
Smoothed Online Learning for Prediction in Piecewise Affine Systems.
CoRR
Adam Block, Max Simchowitz, Russ Tedrake
2023 J jnl
Suboptimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares.
CoRR
Lujie Yang, Hongkai Dai, Alexandre Amice, Russ Tedrake
2023 — conf
Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization.
CDC
Glen Chou, Russ Tedrake
2023 J jnl
Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization.
CoRR
Glen Chou, Russ Tedrake
2023 — conf
Toward Understanding State Representation Learning in MuZero: A Case Study in Linear Quadratic Gaussian Control.
CDC
Yi Tian, Kaiqing Zhang, Russ Tedrake, Suvrit Sra
2022 J jnl
Bundled Gradients Through Contact Via Randomized Smoothing.
IEEE Robotics Autom. Lett.
Hyung Ju Terry Suh, Tao Pang, Russ Tedrake
2022 J jnl
Can Direct Latent Model Learning Solve Linear Quadratic Gaussian Control?
CoRR
Yi Tian, Kaiqing Zhang, Russ Tedrake, Suvrit Sra
2022 C conf
Discrete Approximate Information States in Partially Observable Environments.
ACC
Lujie Yang, Kaiqing Zhang, Alexandre Amice, Yunzhu Li, Russ Tedrake
2022 A* conf
Do Differentiable Simulators Give Better Policy Gradients?
ICML
Hyung Ju Terry Suh, Max Simchowitz, Kaiqing Zhang, Russ Tedrake
2022 J jnl
Do Differentiable Simulators Give Better Policy Gradients?
CoRR
H. J. Terry Suh, Max Simchowitz, Kaiqing Zhang, Russ Tedrake
2022 J jnl
Does Decentralized Learning with Non-IID Unlabeled Data Benefit from Self Supervision?
CoRR
Lirui Wang, Kaiqing Zhang, Yunzhu Li, Yonglong Tian, Russ Tedrake
2022 A* conf
Easing Reliance on Collision-free Planning with Contact-aware Control.
ICRA
Tao Pang, Russ Tedrake
2022 — conf
Elliptical Slice Sampling for Probabilistic Verification of Stochastic Systems with Signal Temporal Logic Specifications.
HSCC
Guy Scher, Sadra Sadraddini, Russ Tedrake, Hadas Kress-Gazit
2022 J jnl
Elliptical Slice Sampling for Probabilistic Verification of Stochastic Systems with Signal Temporal Logic Specifications.
CoRR
Guy Scher, Sadra Sadraddini, Russ Tedrake, Hadas Kress-Gazit
2022 C conf
Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators.
WAFR
Alexandre Amice, Hongkai Dai, Peter Werner, Annan Zhang, Russ Tedrake
2022 J jnl
Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators.
CoRR
Alexandre Amice, Hongkai Dai, Peter Werner, Annan Zhang, Russ Tedrake
2022 J jnl
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models.
CoRR
Tao Pang, H. J. Terry Suh, Lujie Yang, Russ Tedrake
2022 A* conf
Globally Convergent Policy Search for Output Estimation.
NeurIPS
Jack Umenberger, Max Simchowitz, Juan C. Perdomo, Kaiqing Zhang, Russ Tedrake
2022 J jnl
Globally Convergent Policy Search over Dynamic Filters for Output Estimation.
CoRR
Jack Umenberger, Max Simchowitz, Juan C. Perdomo, Kaiqing Zhang, Russ Tedrake
2022 Misc conf
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields.
CoRL
Danny Driess, Zhiao Huang, Yunzhu Li, Russ Tedrake, Marc Toussaint
2022 J jnl
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields.
CoRR
Danny Driess, Zhiao Huang, Yunzhu Li, Russ Tedrake, Marc Toussaint
2022 J jnl
Motion Planning around Obstacles with Convex Optimization.
CoRR
Tobia Marcucci, Mark Petersen, David von Wrangel, Russ Tedrake
2022 A conf
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use.
IROS
H. J. Terry Suh, Naveen Kuppuswamy, Tao Pang, Paul Mitiguy, Alex Alspach, Russ Tedrake
2021 A* conf
A Convex Quasistatic Time-stepping Scheme for Rigid Multibody Systems with Contact and Friction.
ICRA
Tao Pang, Russ Tedrake
2021 J jnl
Bundled Gradients through Contact via Randomized Smoothing.
CoRR
H. J. Terry Suh, Tao Pang, Russ Tedrake
2021 J jnl
Easing Reliance on Collision-free Planning with Contact-aware Control.
CoRR
Tao Pang, Russ Tedrake
2021 A* conf
Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations.
ICRA
Tao Pang, Jack Umenberger, Russ Tedrake
2021 A* conf
Learning Geometric Reasoning and Control for Long-Horizon Tasks from Visual Input.
ICRA
Danny Driess, Jung-Su Ha, Russ Tedrake, Marc Toussaint
2021 Misc conf
Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning.
CoRL
Danny Driess, Jung-Su Ha, Marc Toussaint, Russ Tedrake
2021 J jnl
Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning.
CoRR
Danny Driess, Jung-Su Ha, Marc Toussaint, Russ Tedrake
2021 — conf
Lyapunov-stable neural-network control.
Robotics: Science and Systems
Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake
2021 J jnl
Lyapunov-stable neural-network control.
CoRR
Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake
2021 J jnl
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use.
CoRR
H. J. Terry Suh, Naveen Kuppuswamy, Tao Pang, Paul Mitiguy, Alex Alspach, Russ Tedrake
2021 J jnl
Shortest Paths in Graphs of Convex Sets.
CoRR
Tobia Marcucci, Jack Umenberger, Pablo A. Parrilo, Russ Tedrake
2021 C conf
The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation.
WAFR
H. J. Terry Suh, Russ Tedrake
2021 — conf
Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control.
RoboSoft
Sihah Joonhigh, Naveen Kuppuswamy, Andrew Beaulieu, Alex Alspach, Russ Tedrake
2021 J jnl
Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control.
CoRR
Sihah Joonhigh, Naveen Kuppuswamy, Andrew Beaulieu, Alex Alspach, Russ Tedrake
2021 J jnl
Warm Start of Mixed-Integer Programs for Model Predictive Control of Hybrid Systems.
IEEE Trans. Autom. Control.
Tobia Marcucci, Russ Tedrake
2021 J jnl
kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation.
CoRR
Wei Gao, Russ Tedrake
2021 J jnl
kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation.
IEEE Robotics Autom. Lett.
Wei Gao, Russ Tedrake
2021 A* conf
kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion.
ICRA
Wei Gao, Russ Tedrake
2020 — conf
Counter-example guided synthesis of neural network Lyapunov functions for piecewise linear systems.
CDC
Hongkai Dai, Benoit Landry, Marco Pavone, Russ Tedrake
2020 J jnl
Fast Model-Based Contact Patch and Pose Estimation for Highly Deformable Dense-Geometry Tactile Sensors.
IEEE Robotics Autom. Lett.
Naveen Kuppuswamy, Alejandro M. Castro, Calder Phillips-Grafflin, Alex Alspach, Russ Tedrake
2020 A* conf
FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis.
ICML
Aman Sinha, Matthew O'Kelly, Hongrui Zheng, Rahul Mangharam, John C. Duchi, Russ Tedrake
2020 J jnl
FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis.
CoRR
Aman Sinha, Matthew O'Kelly, Hongrui Zheng, Rahul Mangharam, John C. Duchi, Russ Tedrake
2020 A* conf
Generative Modeling of Environments with Scene Grammars and Variational Inference.
ICRA
Gregory Izatt, Russ Tedrake
2020 Misc conf
Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning.
CoRL
Lucas Manuelli, Yunzhu Li, Peter R. Florence, Russ Tedrake
2020 J jnl
Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning.
CoRR
Lucas Manuelli, Yunzhu Li, Peter R. Florence, Russ Tedrake
2020 A* conf
Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations.
ICRA
Weiqiao Han, Russ Tedrake
2020 A* conf
Neural Bridge Sampling for Evaluating Safety-Critical Autonomous Systems.
NeurIPS
Aman Sinha, Matthew O'Kelly, Russ Tedrake, John C. Duchi
2020 J jnl
Neural Bridge Sampling for Evaluating Safety-Critical Autonomous Systems.
CoRR
Aman Sinha, Matthew O'Kelly, John C. Duchi, Russ Tedrake
2020 A* conf
R3T: Rapidly-exploring Random Reachable Set Tree for Optimal Kinodynamic Planning of Nonlinear Hybrid Systems.
ICRA
Albert Wu, Sadra Sadraddini, Russ Tedrake
2020 — conf
Robust output feedback control with guaranteed constraint satisfaction.
HSCC
Sadra Sadraddini, Russ Tedrake
2020 — conf
Sampling Quotient-Ring Sum-of-Squares Programs for Scalable Verification of Nonlinear Systems.
CDC
Shen Shen, Russ Tedrake
2020 J jnl
Self-Supervised Correspondence in Visuomotor Policy Learning.
IEEE Robotics Autom. Lett.
Peter R. Florence, Lucas Manuelli, Russ Tedrake
2020 J jnl
Soft-Bubble grippers for robust and perceptive manipulation.
CoRR
Naveen Kuppuswamy, Alex Alspach, Avinash Uttamchandani, Sam Creasey, Takuya Ikeda, Russ Tedrake
2020 A conf
Soft-bubble grippers for robust and perceptive manipulation.
IROS
Naveen Kuppuswamy, Alex Alspach, Avinash Uttamchandani, Sam Creasey, Takuya Ikeda, Russ Tedrake
2020 C conf
The Nearest Polytope Problem: Algorithms and Application to Controlling Hybrid Systems.
ACC
Albert Wu, Sadra Sadraddini, Russ Tedrake
2020 J jnl
The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation.
CoRR
H. J. Terry Suh, Russ Tedrake
2020 A conf
Trajectory Optimization for An Autonomous Vehicle Driving across Stochastic Traffic Flows based on Direct Collocation.
ICCAD
Yuwei Sun, Russ Tedrake, Hideya Ochiai
2019 A* conf
A Supervised Approach to Predicting Noise in Depth Images.
ICRA
Chris Sweeney, Greg Izatt, Russ Tedrake
2019 A* conf
Connecting Touch and Vision via Cross-Modal Prediction.
CVPR
Yunzhu Li, Jun-Yan Zhu, Russ Tedrake, Antonio Torralba
2019 J jnl
Connecting Touch and Vision via Cross-Modal Prediction.
CoRR
Yunzhu Li, Jun-Yan Zhu, Russ Tedrake, Antonio Torralba
2019 A* conf
Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures.
ICRA
Weiqiao Han, Russ Tedrake
2019 — conf
Evaluating Robustness of Neural Networks with Mixed Integer Programming.
ICLR (Poster)
Vincent Tjeng, Kai Yuanqing Xiao, Russ Tedrake
2019 A* conf
FilterReg: Robust and Efficient Probabilistic Point-Set Registration Using Gaussian Filter and Twist Parameterization.
CVPR
Wei Gao, Russ Tedrake
2019 J jnl
Global inverse kinematics via mixed-integer convex optimization.
Int. J. Robotics Res.
Hongkai Dai, Gregory Izatt, Russ Tedrake
2019 C conf
KPAM: KeyPoint Affordances for Category-Level Robotic Manipulation.
ISRR
Lucas Manuelli, Wei Gao, Peter R. Florence, Russ Tedrake
2019 A* conf
LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers.
ICRA
Robin Deits, Twan Koolen, Russ Tedrake
2019 — conf
Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids.
ICLR (Poster)
Yunzhu Li, Jiajun Wu, Russ Tedrake, Joshua B. Tenenbaum, Antonio Torralba
2019 — conf
Linear Encodings for Polytope Containment Problems.
CDC
Sadra Sadraddini, Russ Tedrake
2019 J jnl
Linear Encodings for Polytope Containment Problems.
CoRR
Sadra Sadraddini, Russ Tedrake
2019 J jnl
Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations.
CoRR
Weiqiao Han, Russ Tedrake
2019 — conf
Mixed-integer formulations for optimal control of piecewise-affine systems.
HSCC
Tobia Marcucci, Russ Tedrake
2019 A* conf
Propagation Networks for Model-Based Control Under Partial Observation.
ICRA
Yunzhu Li, Jiajun Wu, Jun-Yan Zhu, Joshua B. Tenenbaum, Antonio Torralba, Russ Tedrake
2019 A* conf
Sampling-Based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems.
ICRA
Sadra Sadraddini, Russ Tedrake
2019 J jnl
Self-Supervised Correspondence in Visuomotor Policy Learning.
CoRR
Peter R. Florence, Lucas Manuelli, Russ Tedrake
2019 — conf
Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation.
RoboSoft
Alex Alspach, Kunimatsu Hashimoto, Naveen Kuppuswamy, Russ Tedrake
2019 J jnl
Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation.
CoRR
Alex Alspach, Kunimatsu Hashimoto, Naveen Kuppuswamy, Russ Tedrake
2019 J jnl
SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction.
CoRR
Wei Gao, Russ Tedrake
2019 J jnl
Warm Start of Mixed-Integer Programs for Model Predictive Control of Hybrid Systems.
CoRR
Tobia Marcucci, Russ Tedrake
2019 J jnl
kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion.
CoRR
Wei Gao, Russ Tedrake
2019 J jnl
kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation.
CoRR
Lucas Manuelli, Wei Gao, Peter R. Florence, Russ Tedrake
2018 A conf
A Robust Time-Stepping Scheme for Quasistatic Rigid Multibody Systems.
IROS
Tao Pang, Russ Tedrake
2018 C conf
Compositional Verification of Large-Scale Nonlinear Systems via Sums-of-Squares Optimization.
ACC
Shen Shen, Russ Tedrake
2018 A conf
Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures.
IROS
Weiqiao Han, Russ Tedrake
2018 J jnl
Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures.
CoRR
Weiqiao Han, Russ Tedrake
2018 J jnl
Convex Optimization of Nonlinear State Feedback Controllers for Discrete-time Polynomial Systems via Occupation Measures.
CoRR
Weiqiao Han, Russ Tedrake
2018 C conf
Counterexample-Guided Safety Contracts for Autonomous Driving.
WAFR
Jonathan A. DeCastro, Lucas Liebenwein, Cristian Ioan Vasile, Russ Tedrake, Sertac Karaman, Daniela Rus
2018 Misc conf
Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation.
CoRL
Peter R. Florence, Lucas Manuelli, Russ Tedrake
2018 J jnl
Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation.
CoRR
Peter R. Florence, Lucas Manuelli, Russ Tedrake
2018 J jnl
FilterReg: Robust and Efficient Probabilistic Point-Set Registration using Gaussian Filter and Twist Parameterization.
CoRR
Wei Gao, Russ Tedrake
2018 J jnl
High-speed autonomous obstacle avoidance with pushbroom stereo.
J. Field Robotics
Andrew J. Barry, Peter R. Florence, Russ Tedrake
2018 J jnl
LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers.
CoRR
Robin Deits, Twan Koolen, Russ Tedrake
2018 A* conf
Label Fusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes.
ICRA
Pat Marion, Peter R. Florence, Lucas Manuelli, Russ Tedrake
2018 J jnl
Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids.
CoRR
Yunzhu Li, Jiajun Wu, Russ Tedrake, Joshua B. Tenenbaum, Antonio Torralba
2018 A* conf
NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search Over Local 3D Data.
ICRA
Peter R. Florence, John Carter, Jake Ware, Russ Tedrake
2018 J jnl
NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search over Local 3D Data.
CoRR
Peter R. Florence, John Carter, Jake Ware, Russ Tedrake
2018 J jnl
Propagation Networks for Model-Based Control Under Partial Observation.
CoRR
Yunzhu Li, Jiajun Wu, Jun-Yan Zhu, Joshua B. Tenenbaum, Antonio Torralba, Russ Tedrake
2018 J jnl
Sampling-based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems.
CoRR
Sadra Sadraddini, Russ Tedrake
2018 A* conf
Scalable End-to-End Autonomous Vehicle Testing via Rare-event Simulation.
NeurIPS
Matthew O'Kelly, Aman Sinha, Hongseok Namkoong, Russ Tedrake, John C. Duchi
2018 J jnl
Scalable End-to-End Autonomous Vehicle Testing via Rare-event Simulation.
CoRR
Matthew O'Kelly, Aman Sinha, Hongseok Namkoong, John C. Duchi, Russ Tedrake
2018 — conf
SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction.
Robotics: Science and Systems
Wei Gao, Russ Tedrake
2017 J jnl
A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes.
CoRR
Pat Marion, Peter R. Florence, Lucas Manuelli, Russ Tedrake
2017 B conf
A parallel autonomy research platform.
Intelligent Vehicles Symposium
Felix Naser, David L. Dorhout, Stephen Proulx, Scott Drew Pendleton, Hans Andersen, Wilko Schwarting, Liam Paull, Javier Alonso-Mora, Marcelo H. Ang, Sertac Karaman, Russ Tedrake, John J. Leonard, Daniela Rus
2017 — conf
Approximate hybrid model predictive control for multi-contact push recovery in complex environments.
Humanoids
Tobia Marcucci, Robin Deits, Marco Gabiccini, Antonio Bicchi, Russ Tedrake
2017 — conf
Balancing and Step Recovery Capturability via Sums-of-Squares Optimization.
Robotics: Science and Systems
Michael Posa, Twan Koolen, Russ Tedrake
2017 — conf
Convex and Combinatorial Optimization for Dynamic Robots in the Real World.
HSCC
Russ Tedrake
2017 J jnl
Director: A User Interface Designed for Robot Operation with Shared Autonomy.
J. Field Robotics
Pat Marion, Maurice F. Fallon, Robin Deits, Andres Valenzuela, Claudia Pérez-D'Arpino, Greg Izatt, Lucas Manuelli, Matthew E. Antone, Hongkai Dai, Twan Koolen, John Carter, Scott Kuindersma, Russ Tedrake
2017 — conf
Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload.
Robotics: Science and Systems
Philipp Foehn, Davide Falanga, Naveen Kuppuswamy, Russ Tedrake, Davide Scaramuzza
2017 — conf
Feedback design for multi-contact push recovery via LMI approximation of the Piecewise-Affine Quadratic Regulator.
Humanoids
Weiqiao Han, Russ Tedrake
2017 J jnl
Functional Co-Optimization of Articulated Robots.
CoRR
Andrew Spielberg, Brandon Araki, Cynthia R. Sung, Russ Tedrake, Daniela Rus
2017 A* conf
Functional co-optimization of articulated robots.
ICRA
Andrew Spielberg, Brandon Araki, Cynthia R. Sung, Russ Tedrake, Daniela Rus
2017 J jnl
Funnel libraries for real-time robust feedback motion planning.
Int. J. Robotics Res.
Anirudha Majumdar, Russ Tedrake
2017 C conf
Global Inverse Kinematics via Mixed-Integer Convex Optimization.
ISRR
Hongkai Dai, Gregory Izatt, Russ Tedrake
2017 C conf
Globally Optimal Object Pose Estimation in Point Clouds with Mixed-Integer Programming.
ISRR
Gregory Izatt, Hongkai Dai, Russ Tedrake
2017 J jnl
Parameter and contact force estimation of planar rigid-bodies undergoing frictional contact.
Int. J. Robotics Res.
Nima Fazeli, Roman Kolbert, Russ Tedrake, Alberto Rodriguez
2017 — ch.
Robot Learning.
Encyclopedia of Machine Learning and Data Mining
Jan Peters, Russ Tedrake, Nick Roy, Jun Morimoto
2017 A* conf
Tracking objects with point clouds from vision and touch.
ICRA
Gregory Izatt, Geronimo Mirano, Edward H. Adelson, Russ Tedrake
2017 J jnl
Verifying Neural Networks with Mixed Integer Programming.
CoRR
Vincent Tjeng, Russ Tedrake
2017 J jnl
Whole-Body Control [TC Spotlight].
IEEE Robotics Autom. Mag.
Federico L. Moro, Luis Sentis, Jaeheung Park, Christopher G. Atkeson, Michael Gienger, Ambarish Goswami, Shuuji Kajita, Oussama Khatib, James Kuffner, David E. Orin, Christian Ott, Jerry E. Pratt, Ludovic Righetti, Bruno Siciliano, Russ Tedrake, Eiichi Yoshida
2016 A* conf
Aggressive quadrotor flight through cluttered environments using mixed integer programming.
ICRA
Benoit Landry, Robin Deits, Peter R. Florence, Russ Tedrake
2016 — conf
Balance control using center of mass height variation: Limitations imposed by unilateral contact.
Humanoids
Twan Koolen, Michael Posa, Russ Tedrake
2016 J jnl
Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator.
Int. J. Robotics Res.
Andrew D. Marchese, Russ Tedrake, Daniela Rus
2016 J jnl
Feedback-motion-planning with simulation-based LQR-trees.
Int. J. Robotics Res.
Philipp Reist, Pascal Preiswerk, Russ Tedrake
2016 J jnl
Funnel Libraries for Real-Time Robust Feedback Motion Planning.
CoRR
Anirudha Majumdar, Russ Tedrake
2016 C conf
Integrated Perception and Control at High Speed: Evaluating Collision Avoidance Maneuvers Without Maps.
WAFR
Peter R. Florence, John Carter, Russ Tedrake
2016 A conf
Localizing external contact using proprioceptive sensors: The Contact Particle Filter.
IROS
Lucas Manuelli, Russ Tedrake
2016 — ch.
Modeling and Control of Legged Robots.
Springer Handbook of Robotics, 2nd Ed.
Pierre-Brice Wieber, Russ Tedrake, Scott Kuindersma
2016 A* conf
Optimization and stabilization of trajectories for constrained dynamical systems.
ICRA
Michael Posa, Scott Kuindersma, Russ Tedrake
2016 J jnl
Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot.
Auton. Robots
Scott Kuindersma, Robin Deits, Maurice F. Fallon, Andres Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, Russ Tedrake
2016 — conf
Planning robust walking motion on uneven terrain via convex optimization.
Humanoids
Hongkai Dai, Russ Tedrake
2016 J jnl
Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction.
IEEE Trans. Autom. Control.
Michael Posa, Mark M. Tobenkin, Russ Tedrake
2015 — conf
A closed-form solution for real-time ZMP gait generation and feedback stabilization.
Humanoids
Russ Tedrake, Scott Kuindersma, Robin Deits, Kanako Miura
2015 J jnl
An Architecture for Online Affordance-based Perception and Whole-body Planning.
J. Field Robotics
Maurice F. Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew E. Antone, Toby Schneider, Hongkai Dai, Claudia Pérez-D'Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion, Michael Posa, Andres Valenzuela, Kuan-Ting Yu, Julie A. Shah, Karl Iagnemma, Russ Tedrake, Seth J. Teller
2015 — conf
Continuous humanoid locomotion over uneven terrain using stereo fusion.
Humanoids
Maurice F. Fallon, Pat Marion, Robin Deits, Thomas Whelan, Matthew E. Antone, John McDonald, Russ Tedrake
2015 A* conf
Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator.
ICRA
Andrew D. Marchese, Russ Tedrake, Daniela Rus
2015 A* conf
Efficient mixed-integer planning for UAVs in cluttered environments.
ICRA
Robin Deits, Russ Tedrake
2015 — conf
Identifiability Analysis of Planar Rigid-Body Frictional Contact.
ISRR (2)
Nima Fazeli, Russ Tedrake, Alberto Rodriguez
2015 A* conf
Pushbroom stereo for high-speed navigation in cluttered environments.
ICRA
Andrew J. Barry, Russ Tedrake
2015 — conf
Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming.
ISRR (1)
Hongkai Dai, Anirudha Majumdar, Russ Tedrake
2014 J jnl
A direct method for trajectory optimization of rigid bodies through contact.
Int. J. Robotics Res.
Michael Posa, Cecilia Cantu, Russ Tedrake
2014 A* conf
A summary of team MIT's approach to the virtual robotics challenge.
ICRA
Russ Tedrake, Maurice F. Fallon, Sisir Karumanchi, Scott Kuindersma, Matthew E. Antone, Toby Schneider, Thomas M. Howard, Matthew R. Walter, Hongkai Dai, Robin Deits, Michael Fleder, Dehann Fourie, Riad I. Hammoud, Sachithra Hemachandra, P. Ilardi, Claudia Pérez-D'Arpino, Sudeep Pillai, Andres Valenzuela, Cecilia Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, Julie A. Shah, Karl Iagnemma, Seth J. Teller
2014 C conf
Adaptive control design for underactuated systems using sums-of-squares optimization.
ACC
Joseph L. Moore, Russ Tedrake
2014 A* conf
An efficiently solvable quadratic program for stabilizing dynamic locomotion.
ICRA
Scott Kuindersma, Frank Permenter, Russ Tedrake
2014 C conf
Computing Large Convex Regions of Obstacle-Free Space Through Semidefinite Programming.
WAFR
Robin Deits, Russ Tedrake
2014 — conf
Control and verification of high-dimensional systems with DSOS and SDSOS programming.
CDC
Anirudha Majumdar, Amir Ali Ahmadi, Russ Tedrake
2014 — conf
Convex computation of the reachable set for controlled polynomial hybrid systems.
CDC
Victor Shia, Ram Vasudevan, Ruzena Bajcsy, Russ Tedrake
2014 J jnl
Convex optimization of nonlinear feedback controllers via occupation measures.
Int. J. Robotics Res.
Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, Russ Tedrake
2014 A* conf
Flying between obstacles with an autonomous knife-edge maneuver.
ICRA
Andrew J. Barry, Tim Jenks, Anirudha Majumdar, Huai-Ti Lin, Ivo G. Ros, Andrew A. Biewener, Russ Tedrake
2014 — conf
Footstep planning on uneven terrain with mixed-integer convex optimization.
Humanoids
Robin Deits, Russ Tedrake
2014 J jnl
Pushbroom Stereo for High-Speed Navigation in Cluttered Environments.
CoRR
Andrew J. Barry, Russ Tedrake
2014 — conf
Whole-body motion planning with centroidal dynamics and full kinematics.
Humanoids
Hongkai Dai, Andres Valenzuela, Russ Tedrake
2013 C conf
A numerical algebraic geometry approach to regional stability analysis of polynomial systems.
ACC
Frank Permenter, Charles W. Wampler, Russ Tedrake
2013 J jnl
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion.
CoRR
Scott Kuindersma, Frank Permenter, Russ Tedrake
2013 C conf
Complexity of ten decision problems in continuous time dynamical systems.
ACC
Amir Ali Ahmadi, Anirudha Majumdar, Russ Tedrake
2013 A* conf
Control design along trajectories with sums of squares programming.
ICRA
Anirudha Majumdar, Amir Ali Ahmadi, Russ Tedrake
2013 — conf
Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures.
Robotics: Science and Systems
Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, Russ Tedrake
2013 A* conf
L2-gain optimization for robust bipedal walking on unknown terrain.
ICRA
Hongkai Dai, Russ Tedrake
2013 — conf
Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares.
HSCC
Michael Posa, Mark M. Tobenkin, Russ Tedrake
2013 J jnl
Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures.
CoRR
Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, Russ Tedrake
2012 C conf
Algebraic verification for parameterized motion planning libraries.
ACC
Anirudha Majumdar, Mark M. Tobenkin, Russ Tedrake
2012 J jnl
Complexity of Ten Decision Problems in Continuous Time Dynamical Systems
CoRR
Amir Ali Ahmadi, Anirudha Majumdar, Russ Tedrake
2012 J jnl
Control Design along Trajectories with Sums of Squares Programming
CoRR
Anirudha Majumdar, Amir Ali Ahmadi, Russ Tedrake
2012 — conf
Control synthesis and verification for a perching UAV using LQR-Trees.
CDC
Joseph L. Moore, Russ Tedrake
2012 C conf
Design, analysis, and learning control of a fully actuated micro wind turbine.
ACC
J. Zico Kolter, Zachary Jackowski, Russ Tedrake
2012 C conf
Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact.
WAFR
Michael Posa, Russ Tedrake
2012 C conf
Erratum: Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact.
WAFR
Michael Posa, Russ Tedrake
2012 J jnl
Finite-time regional verification of stochastic non-linear systems.
Int. J. Robotics Res.
Jacob Steinhardt, Russ Tedrake
2012 A* conf
Non-Gaussian belief space planning: Correctness and complexity.
ICRA
Robert Platt Jr., Leslie Pack Kaelbling, Tomás Lozano-Pérez, Russ Tedrake
2012 — conf
Optimizing robust limit cycles for legged locomotion on unknown terrain.
CDC
Hongkai Dai, Russ Tedrake
2012 A* conf
Region of attraction estimation for a perching aircraft: A Lyapunov method exploiting barrier certificates.
ICRA
Elena L. Glassman, Alexis Lussier Desbiens, Mark M. Tobenkin, Mark R. Cutkosky, Russ Tedrake
2012 C conf
Robust Online Motion Planning with Regions of Finite Time Invariance.
WAFR
Anirudha Majumdar, Russ Tedrake
2012 A* conf
Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates.
ICRA
Andrew J. Barry, Anirudha Majumdar, Russ Tedrake
2011 J jnl
Bounding on rough terrain with the LittleDog robot.
Int. J. Robotics Res.
Alexander C. Shkolnik, Michael Levashov, Ian R. Manchester, Russ Tedrake
2011 C conf
Efficient Planning in Non-Gaussian Belief Spaces and Its Application to Robot Grasping.
ISRR
Robert Platt Jr., Leslie Pack Kaelbling, Tomás Lozano-Pérez, Russ Tedrake
2011 — conf
Feedback controller parameterizations for Reinforcement Learning.
ADPRL
John W. Roberts, Ian R. Manchester, Russ Tedrake
2011 — conf
Finite-Time Regional Verification of Stochastic Nonlinear Systems.
Robotics: Science and Systems
Jacob Steinhardt, Russ Tedrake
2011 A conf
Magnetic localization for perching UAVs on powerlines.
IROS
Joseph L. Moore, Russ Tedrake
2011 J jnl
Sample-Based Planning with Volumes in Configuration Space
CoRR
Alexander C. Shkolnik, Russ Tedrake
2011 J jnl
Special issue on selected papers from Robotics: Science and Systems 2009.
Auton. Robots
Russ Tedrake, Yoky Matsuoka
2011 J jnl
Stable dynamic walking over uneven terrain.
Int. J. Robotics Res.
Ian R. Manchester, Uwe Mettin, Fumiya Iida, Russ Tedrake
2010 A* conf
A quadratic regulator-based heuristic for rapidly exploring state space.
ICRA
Elena L. Glassman, Russ Tedrake
2010 — conf
Belief space planning assuming maximum likelihood observations.
Robotics: Science and Systems
Robert Platt Jr., Russ Tedrake, Leslie Pack Kaelbling, Tomás Lozano-Pérez
2010 — conf
Convex optimization in identification of stable non-linear state space models.
CDC
Mark M. Tobenkin, Ian R. Manchester, Jennifer Wang, Alexandre Megretski, Russ Tedrake
2010 J jnl
LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification.
Int. J. Robotics Res.
Russ Tedrake, Ian R. Manchester, Mark M. Tobenkin, John W. Roberts
2010 J jnl
Minimalistic control of biped walking in rough terrain.
Auton. Robots
Fumiya Iida, Russ Tedrake
2010 — ch.
Motor Learning at Intermediate Reynolds Number: Experiments with Policy Gradient on the Flapping Flight of a Rigid Wing.
From Motor Learning to Interaction Learning in Robots
John W. Roberts, Lionel Moret, Jun Zhang, Russ Tedrake
2010 J jnl
Regions of Attraction for Hybrid Limit Cycles of Walking Robots
CoRR
Ian R. Manchester, Mark M. Tobenkin, Michael Levashov, Russ Tedrake
2010 — ch.
Robot Learning.
Encyclopedia of Machine Learning
Jan Peters, Russ Tedrake, Nicholas Roy, Jun Morimoto
2010 A* conf
Simulation-based LQR-trees with input and state constraints.
ICRA
Philipp Reist, Russ Tedrake
2009 A* conf
Dynamically diverse legged locomotion for rough terrain.
ICRA
Katie Byl, Russ Tedrake
2009 — conf
LQR-trees: Feedback motion planning on sparse randomized trees.
Robotics: Science and Systems
Russ Tedrake
2009 J jnl
Metastable Walking Machines.
Int. J. Robotics Res.
Katie Byl, Russ Tedrake
2009 A* conf
Minimalistic control of a compass gait robot in rough terrain.
ICRA
Fumiya Iida, Russ Tedrake
2009 C conf
On the controllability of fixed-wing perching.
ACC
John W. Roberts, Rick Cory, Russ Tedrake
2009 A* conf
Path planning in 1000+ dimensions using a task-space Voronoi bias.
ICRA
Alexander C. Shkolnik, Russ Tedrake
2009 A* conf
Reachability-guided sampling for planning under differential constraints.
ICRA
Alexander C. Shkolnik, Matthew R. Walter, Russ Tedrake
2009 J jnl
Robot learning [TC Spotlight].
IEEE Robotics Autom. Mag.
Jan Peters, Jun Morimoto, Russ Tedrake, Nicholas Roy
2009 C conf
Stable Dynamic Walking over Rough Terrain - Theory and Experiment.
ISRR
Ian R. Manchester, Uwe Mettin, Fumiya Iida, Russ Tedrake
2008 A* conf
Approximate optimal control of the compass gait on rough terrain.
ICRA
Katie Byl, Russ Tedrake
2008 A conf
High-dimensional underactuated motion planning via task space control.
IROS
Alexander C. Shkolnik, Russ Tedrake
2008 — conf
Metastable Walking on Stochastically Rough Terrain.
Robotics: Science and Systems
Katie Byl, Russ Tedrake
2008 — conf
Reliable Dynamic Motions for a Stiff Quadruped.
ISER
Katie Byl, Alexander C. Shkolnik, Sam Prentice, Nicholas Roy, Russ Tedrake
2008 — conf
Signal-to-Noise Ratio Analysis of Policy Gradient Algorithms.
NIPS
John W. Roberts, Russ Tedrake
2007 A conf
Collision detection in legged locomotion using supervised learning.
IROS
Finale Doshi, Emma Brunskill, Alexander C. Shkolnik, Thomas Kollar, Khashayar Rohanimanesh, Russ Tedrake, Nicholas Roy
2007 A* conf
Inverse Kinematics for a Point-Foot Quadruped Robot with Dynamic Redundancy Resolution.
ICRA
Alexander C. Shkolnik, Russ Tedrake
2007 A conf
Motor control optimization of compliant one-legged locomotion in rough terrain.
IROS
Fumiya Iida, Russ Tedrake
2004 A* conf
Actuating a Simple 3D Passive Dynamic Walker.
ICRA
Russ Tedrake, Teresa Weirui Zhang, Ming-fai Fong, H. Sebastian Seung
2004 A conf
Stochastic policy gradient reinforcement learning on a simple 3D biped.
IROS
Russ Tedrake, Teresa Weirui Zhang, H. Sebastian Seung
1999 — conf
Intelligent Agents in Computer Games.
AAAI/IAAI
Michael van Lent, John E. Laird, Josh Buckman, Joe Hartford, Steve Houchard, Kurt Steinkraus, Russ Tedrake