b'Russ Tedrake'

research

∙ 09/15/2023

Constrained Bimanual Planning with Analytic Inverse Kinematics

In order for a bimanual robot to manipulate an object that is held by bo...

0 Thomas Cohn, et al. ∙

research

∙ 06/24/2023

Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching

Offline optimization paradigms such as offline Reinforcement Learning (R...

0 H. J. Terry Suh, et al. ∙

research

∙ 05/10/2023

Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets

Computing optimal, collision-free trajectories for high-dimensional syst...

0 Thomas Cohn, et al. ∙

research

∙ 05/01/2023

Fast Path Planning Through Large Collections of Safe Boxes

We present a fast algorithm for the design of smooth paths (or trajector...

0 Tobia Marcucci, et al. ∙

research

∙ 04/25/2023

Suboptimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares

Sums-of-squares (SOS) optimization is a promising tool to synthesize cer...

0 Lujie Yang, et al. ∙

research

∙ 04/24/2023

Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization

We present a method for synthesizing dynamic, reduced-order output-feedb...

0 Glen Chou, et al. ∙

research

∙ 03/26/2023

Growing Convex Collision-Free Regions in Configuration Space using Nonlinear Programming

One of the most difficult parts of motion planning in configuration spac...

0 Mark Petersen, et al. ∙

research

∙ 02/23/2023

Certified Polyhedral Decompositions of Collision-Free Configuration Space

Understanding the geometry of collision-free configuration space (C-free...

0 Hongkai Dai, et al. ∙

research

∙ 01/26/2023

Smoothed Online Learning for Prediction in Piecewise Affine Systems

The problem of piecewise affine (PWA) regression and planning is of foun...

0 Adam Block, et al. ∙

research

∙ 12/30/2022

Can Direct Latent Model Learning Solve Linear Quadratic Gaussian Control?

We study the task of learning state representations from potentially hig...

0 Yi Tian, et al. ∙

research

∙ 10/20/2022

Does Decentralized Learning with Non-IID Unlabeled Data Benefit from Self Supervision?

Decentralized learning has been advocated and widely deployed to make ef...

0 Lirui Wang, et al. ∙

research

∙ 06/22/2022

Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models

The empirical success of Reinforcement Learning (RL) in the setting of c...

0 Tao Pang, et al. ∙

research

∙ 05/09/2022

Motion Planning around Obstacles with Convex Optimization

Trajectory optimization offers mature tools for motion planning in high-...

0 Tobia Marcucci, et al. ∙

research

∙ 05/07/2022

Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators

Configuration space (C-space) has played a central role in collision-fre...

0 Alexandre Amice, et al. ∙

research

∙ 02/28/2022

Elliptical Slice Sampling for Probabilistic Verification of Stochastic Systems with Signal Temporal Logic Specifications

Autonomous robots typically incorporate complex sensors in their decisio...

0 Guy Scher, et al. ∙

research

∙ 02/24/2022

Learning Multi-Object Dynamics with Compositional Neural Radiance Fields

We present a method to learn compositional predictive models from image ...

0 Danny Driess, et al. ∙

research

∙ 02/23/2022

Globally Convergent Policy Search over Dynamic Filters for Output Estimation

We introduce the first direct policy search algorithm which provably con...

0 Jack Umenberger, et al. ∙

research

∙ 02/02/2022

Do Differentiable Simulators Give Better Policy Gradients?

Differentiable simulators promise faster computation time for reinforcem...

0 H. J. Terry Suh, et al. ∙

research

∙ 11/02/2021

SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use

We propose the framework of Series Elastic End Effectors in 6D (SEED), w...

0 H. J. Terry Suh, et al. ∙

research

∙ 10/02/2021

Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning

This work proposes an optimization-based manipulation planning framework...

0 Danny Driess, et al. ∙

research

∙ 09/29/2021

Lyapunov-stable neural-network control

Deep learning has had a far reaching impact in robotics. Specifically, d...

0 Hongkai Dai, et al. ∙

research

∙ 09/20/2021

Easing Reliance on Collision-free Planning with Contact-aware Control

We believe that the future of robot motion planning will look very diffe...

0 Tao Pang, et al. ∙

research

∙ 09/11/2021

Bundled Gradients through Contact via Randomized Smoothing

The empirical success of derivative-free methods in reinforcement learni...

0 H. J. Terry Suh, et al. ∙

research

∙ 03/15/2021

Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control

While compliant grippers have become increasingly commonplace in robot m...

0 Sihah Joonhigh, et al. ∙

research

∙ 02/11/2021

kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation

In this paper, we explore generalizable, perception-to-action robotic ma...

0 Wei Gao, et al. ∙

research

∙ 01/27/2021

Shortest Paths in Graphs of Convex Sets

Given a graph, the shortest-path problem requires finding a sequence of ...

0 Tobia Marcucci, et al. ∙

research

∙ 09/10/2020

Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning

Predictive models have been at the core of many robotic systems, from qu...

0 Lucas Manuelli, et al. ∙

research

∙ 08/24/2020

Neural Bridge Sampling for Evaluating Safety-Critical Autonomous Systems

Learning-based methodologies increasingly find applications in safety-cr...

10 Aman Sinha, et al. ∙

research

∙ 04/07/2020

Soft-Bubble grippers for robust and perceptive manipulation

Manipulation in cluttered environments like homes requires stable grasps...

0 Naveen Kuppuswamy, et al. ∙

research

∙ 03/09/2020

FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis

Balancing performance and safety is crucial to deploying autonomous vehi...

4 Aman Sinha, et al. ∙

research

∙ 02/21/2020

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...

0 H. J. Terry Suh, et al. ∙

research

∙ 09/17/2019

Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations

We propose a model-based approach to design feedback policies for dexter...

0 Weiqiao Han, et al. ∙

research

∙ 09/16/2019

kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion

Manipulation planning is the task of computing robot trajectories that m...

15 Wei Gao, et al. ∙

research

∙ 09/16/2019

Self-Supervised Correspondence in Visuomotor Policy Learning

In this paper we explore using self-supervised correspondence for improv...

99 Peter Florence, et al. ∙

research

∙ 06/14/2019

Connecting Touch and Vision via Cross-Modal Prediction

Humans perceive the world using multi-modal sensory inputs such as visio...

4 Yunzhu Li, et al. ∙

research

∙ 04/30/2019

SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction

We contribute a dense SLAM system that takes a live stream of depth imag...

10 Wei Gao, et al. ∙

research

∙ 04/03/2019

Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation

Incorporating effective tactile sensing and mechanical compliance is key...

0 Alex Alspach, et al. ∙

research

∙ 03/15/2019

kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation

We would like robots to achieve purposeful manipulation by placing any i...

0 Lucas Manuelli, et al. ∙

research

∙ 03/12/2019

Linear Encodings for Polytope Containment Problems

The polytope containment problem is deciding whether a polytope is a con...

0 Sadra Sadraddini, et al. ∙

research

∙ 11/26/2018

FilterReg: Robust and Efficient Probabilistic Point-Set Registration using Gaussian Filter and Twist Parameterization

Probabilistic point-set registration methods have been gaining more atte...

0 Wei Gao, et al. ∙

research

∙ 10/31/2018

Scalable End-to-End Autonomous Vehicle Testing via Rare-event Simulation

While recent developments in autonomous vehicle (AV) technology highligh...

0 Matthew O'Kelly, et al. ∙

research

∙ 10/03/2018

Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids

Real-life control tasks involve matter of various substances---rigid or ...

2 Yunzhu Li, et al. ∙

research

∙ 09/28/2018

Propagation Networks for Model-Based Control Under Partial Observation

There has been an increasing interest in learning dynamics simulators fo...

4 Yunzhu Li, et al. ∙

research

∙ 09/25/2018

Sampling-based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems

Piecewise affine (PWA) systems are widely used to model highly nonlinear...

0 Sadra Sadraddini, et al. ∙

research

∙ 09/16/2018

Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures

We present a novel controller synthesis approach for discrete-time hybri...

0 Weiqiao Han, et al. ∙

research

∙ 09/16/2018

LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers

Guided policy search is a popular approach for training controllers for ...

0 Robin Deits, et al. ∙

research

∙ 06/22/2018

Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation

What is the right object representation for manipulation? We would like ...

4 Peter R. Florence, et al. ∙

research

∙ 03/24/2018

Convex Optimization of Nonlinear State Feedback Controllers for Discrete-time Polynomial Systems via Occupation Measures

In this paper, we design nonlinear state feedback controllers for discre...

0 Weiqiao Han, et al. ∙

research

∙ 03/21/2018

Semidefinite Outer Approximation of the Backward Reachable Set of Discrete-time Autonomous Polynomial Systems

We approximate the backward reachable set of discrete-time autonomous po...

0 Weiqiao Han, et al. ∙

research

∙ 02/25/2018

NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search over Local 3D Data

We would like robots to be able to safely navigate at high speed, effici...

0 Peter R. Florence, et al. ∙

Russ Tedrake

Featured Co-authors