
Variable compliance and geometry regulation of SoftBubble grippers with active pressure control
While compliant grippers have become increasingly commonplace in robot m...
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kPAM 2.0: Feedback Control for CategoryLevel Robotic Manipulation
In this paper, we explore generalizable, perceptiontoaction robotic ma...
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Shortest Paths in Graphs of Convex Sets
Given a graph, the shortestpath problem requires finding a sequence of ...
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Keypoints into the Future: SelfSupervised Correspondence in ModelBased Reinforcement Learning
Predictive models have been at the core of many robotic systems, from qu...
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Neural Bridge Sampling for Evaluating SafetyCritical Autonomous Systems
Learningbased methodologies increasingly find applications in safetycr...
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SoftBubble grippers for robust and perceptive manipulation
Manipulation in cluttered environments like homes requires stable grasps...
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FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis
Balancing performance and safety is crucial to deploying autonomous vehi...
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The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation
In this paper, we tackle the problem of pushing piles of small objects i...
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Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations
We propose a modelbased approach to design feedback policies for dexter...
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kPAMSC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion
Manipulation planning is the task of computing robot trajectories that m...
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SelfSupervised Correspondence in Visuomotor Policy Learning
In this paper we explore using selfsupervised correspondence for improv...
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Connecting Touch and Vision via CrossModal Prediction
Humans perceive the world using multimodal sensory inputs such as visio...
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SurfelWarp: Efficient NonVolumetric Single View Dynamic Reconstruction
We contribute a dense SLAM system that takes a live stream of depth imag...
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Softbubble: A highly compliant dense geometry tactile sensor for robot manipulation
Incorporating effective tactile sensing and mechanical compliance is key...
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kPAM: KeyPoint Affordances for CategoryLevel Robotic Manipulation
We would like robots to achieve purposeful manipulation by placing any i...
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Linear Encodings for Polytope Containment Problems
The polytope containment problem is deciding whether a polytope is a con...
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FilterReg: Robust and Efficient Probabilistic PointSet Registration using Gaussian Filter and Twist Parameterization
Probabilistic pointset registration methods have been gaining more atte...
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Scalable EndtoEnd Autonomous Vehicle Testing via Rareevent Simulation
While recent developments in autonomous vehicle (AV) technology highligh...
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Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids
Reallife control tasks involve matter of various substancesrigid or ...
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Propagation Networks for ModelBased Control Under Partial Observation
There has been an increasing interest in learning dynamics simulators fo...
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Samplingbased Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems
Piecewise affine (PWA) systems are widely used to model highly nonlinear...
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Controller Synthesis for Discretetime Hybrid Polynomial Systems via Occupation Measures
We present a novel controller synthesis approach for discretetime hybri...
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LVIS: Learning from Value Function Intervals for ContactAware Robot Controllers
Guided policy search is a popular approach for training controllers for ...
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Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation
What is the right object representation for manipulation? We would like ...
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Convex Optimization of Nonlinear State Feedback Controllers for Discretetime Polynomial Systems via Occupation Measures
In this paper, we design nonlinear state feedback controllers for discre...
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Semidefinite Outer Approximation of the Backward Reachable Set of Discretetime Autonomous Polynomial Systems
We approximate the backward reachable set of discretetime autonomous po...
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NanoMap: Fast, UncertaintyAware Proximity Queries with Lazy Search over Local 3D Data
We would like robots to be able to safely navigate at high speed, effici...
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Verifying Neural Networks with Mixed Integer Programming
Neural networks have demonstrated considerable success in a wide variety...
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LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes
Deep neural network (DNN) architectures have been shown to outperform tr...
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Funnel Libraries for RealTime Robust Feedback Motion Planning
We consider the problem of generating motion plans for a robot that are ...
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Pushbroom Stereo for HighSpeed Navigation in Cluttered Environments
We present a novel stereo vision algorithm that is capable of obstacle d...
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Russ Tedrake
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