Feedback design for multi-contact push recovery via LMI approximation of the Piecewise-Affine Quadratic Regulator

by Han, Weiqiao, Tedrake, Russ
Published 2021

SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction

by Gao, Wei, Tedrake, Russ
Published 2021

Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures

by Han, Weiqiao, Tedrake, Russ
Published 2021

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

by Gao, Wei, Tedrake, Russ
Published 2022

Sampling Quotient-Ring Sum-of-Squares Programs for Scalable Verification of Nonlinear Systems

by Shen, Shen, Tedrake, Russ
Published 2022

Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations

by Han, Weiqiao, Tedrake, Russ
Published 2022

Generative Modeling of Environments with Scene Grammars and Variational Inference

by Izatt, Gregory, Tedrake, Russ
Published 2022

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

by Gao, Wei, Tedrake, Russ
Published 2021

Compositional Verification of Large-Scale Nonlinear Systems via Sums-of-Squares Optimization

by Shen, Shen, Tedrake, Russ
Published 2021

A Robust Time-Stepping Scheme for Quasistatic Rigid Multibody Systems

by Pang, Tao, Tedrake, Russ
Published 2021

A Convex Quasistatic Time-stepping Scheme for Rigid Multibody Systems with Contact and Friction

by Pang, Tao, Tedrake, Russ
Published 2022

kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation

by Gao, Wei, Tedrake, Russ
Published 2022

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

by Deits, Robin, Koolen, Twan, Tedrake, Russ
Published 2021

Stability Analysis and Control of Rigid-Body Systems with Impacts and Friction

by Posa, Michael, Tobenkin, Mark, Tedrake, Russ
Published 2020

R3T: Rapidly-exploring Random Reachable Set Tree for Optimal Kinodynamic Planning of Nonlinear Hybrid Systems

by Wu, Albert, Sadraddini, Sadra, Tedrake, Russ
Published 2022

The Nearest Polytope Problem: Algorithms and Application to Controlling Hybrid Systems

by Wu, Albert, Sadraddini, Sadra, Tedrake, Russ
Published 2021

Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations

by Pang, Tao, Umenberger, Jack, Tedrake, Russ
Published 2022

A Supervised Approach to Predicting Noise in Depth Images

by Sweeney, Chris, Izatt, Greg, Tedrake, Russ
Published 2021

Bundled Gradients Through Contact Via Randomized Smoothing

by Suh, Hyung Ju Terry, Pang, Tao, Tedrake, Russ
Published 2022

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

by Alspach, Alex, Hashimoto, Kunimatsu, Kuppuswamy, Naveen, Tedrake, Russ
Published 2021