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Publications

 

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Preprints

    The following manuscripts are still in progress. Suggestions are welcome.

  • Peter Werner, Thomas Cohn, Rebecca H. Jiang, Tim Seyde, Max Simchowitz, Russ Tedrake, and Daniela Rus. Faster algorithms for growing collision-free convex polytopes in robot configuration space. In Under review, 2024. [ .pdf ]

  • Boyuan Chen, Diego Marti Monso, Yilun Du, Max Simchowitz, Russ Tedrake, and Vincent Sitzmann. Diffusion forcing: Next-token prediction meets full-sequence diffusion. arXiv:2407.01392 [cs.LG], 2024. [ .pdf ] [ .com/BoyuanChen0/status/1808538170067407264 ]

  • Jessica Yin, Paarth Shah, Naveen Kuppuswamy, Andrew Beaulieu, Avinash Uttamchandani, Alejandro Castro, James Pikul, and Russ Tedrake. Proximity and visuotactile point cloud fusion for contact patches in extreme deformation, 2023. [ http ]

 

Refereed Conferences, Journals, and Book Chapters

  • Savva Morozov, Tobia Marcucci, Alexandre Amice, Bernhard Paus Graesdal, Rohan Bosworth, Pablo A. Parrilo, and Russ Tedrake. Multi-query shortest-path problem in graphs of convex sets. In International Workshop on the Algorithmic Foundations of Robotics, 2024. [ .pdf ]

  • Shao Yuan Chew Chia, Rebecca H. Jiang, Bernhard Paus Graesdal, Leslie Pack Kaelbling, and Russ Tedrake. Gcs*: Forward heuristic search on implicit graphs of convex sets. In To appear in the proceedings of the Workshop on Algorithmic Foundations of Robotics (WAFR), 2024. [ .pdf ] [ .cc/research/gcs-star/ ]

  • David von Wrangel and Russ Tedrake. Using graphs of convex sets to guide nonconvex trajectory optimization. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), page 8, 2024. [ .pdf ]

  • Bernhard P Graesdal, Shao Yuan Chew Chia, Tobia Marcucci, Savva Morozov, Alexandre Amice, Pablo A Parrilo, and Russ Tedrake. Towards tight convex relaxations for contact-rich manipulation. In Proceedings of Robotics: Science and Systems, 2024. [ .10312 ]

  • Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song. Diffusion policy: Visuomotor policy learning via action diffusion, 2024. [ .04137 ] [ .edu/ ]

  • Tobia Marcucci, Jack Umenberger, Pablo Parrilo, and Russ Tedrake. Shortest paths in graphs of convex sets. SIAM Journal on Optimization, 34(1):507--532, 2024.

  • Peter Werner, Alexandre Amice, Tobia Marcucci, Daniela Rus, and Russ Tedrake. Approximating robot configuration spaces with few convex sets using clique covers of visibility graphs. arXiv:2310.02875 [cs.RO], 2024. [ .pdf ] [ .02875 ]

  • H. J. Terry Suh, Glen Chou, Hongkai Dai, Lujie Yang, Abhishek Gupta, and Russ Tedrake. Fighting uncertainty with gradients: Offline reinforcement learning via diffusion score matching. arXiv:2306.14079 [cs.LG], 2023. [ http ] [ .com/view/score-guided-planning/home ]

  • Lujie Yang, Hongkai Dai, Alexandre Amice, and Russ Tedrake. Approximate optimal controller synthesis for cart-poles and quadrotors via sums-of-squares. IEEE Robotics and Automation Letters, 8(11), 2023. [ .pdf ]

  • Glen Chou and Russ Tedrake. Synthesizing stable reduced-order visuomotor policies for nonlinear systems via sums-of-squares optimization. In Proceedings of the IEEE 62nd Annual Conference on Decision and Control (CDC), 2023. [ .pdf ]

  • Adam Block, Max Simchowitz, and Russ Tedrake. Smoothed online learning for prediction in piecewise affine systems. arXiv preprint arXiv:2301.11187, 2023. [ http ]

  • Hongkai Dai*, Alexandre Amice*, Peter Werner, Annan Zhang, and Russ Tedrake. Certified polyhedral decompositions of collision-free configuration space. The International Journal of Robotics Research (IJRR), 43(9):1322--1341, November 2023. [ .pdf ] [ .1177/02783649231201437 ]

  • Tao Pang, H.J. Terry Suh, Lujie Yang, and Russ Tedrake. Global planning for contact-rich manipulation via local smoothing of quasi-dynamic contact models. Transactions of Robotics, 39(6):4691--4711, December 2023. Honorable mention for the 2023 IEEE Transactions on Robotics King-Sun Fu Memorial Best Paper Award.pdf ] [ .com/view/global-planning-contact/home ]

  • Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake. Constrained bimanual planning with analytic inverse kinematics. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Yokohama, May 2024. Best Paper in Robot Manipulation Finalist.pdf ]

  • Adam Block, Ali Jadbabaie, Daniel Pfrommer, Max Simchowitz, and Russ Tedrake. Provable guarantees for generative behavior cloning: Bridging low-level stability and high-level behavior. In Thirty-seventh Conference on Neural Information Processing Systems, 2023.

  • Tobia Marcucci, Mark Petersen, David von Wrangel, and Russ Tedrake. Motion planning around obstacles with convex optimization. Science Robotics, 8(84), 2023. Winner of the 2024 IEEE RAS TC on Model-Based Optimization Best Paper of the Year Awardhttp ]

  • Thomas Cohn, Mark Petersen, Max Simchowitz, and Russ Tedrake. Non-euclidean motion planning with graphs of geodesically-convex sets. In Robotics: Science and Systems, 2023. Best Paper Award Finalist.pdf ]

  • Lirui Wang, Kaiqing Zhang, Yunzhu Li, Yonglong Tian, and Russ Tedrake. Does learning from decentralized non-iid unlabeled data benefit from self-supervision? In Proceedings of the International Conference on Learning Representations (ICLR), 2023. [ .pdf ]

  • Yi Tian, Kaiqing Zhang, Russ Tedrake, and Suvrit Sra. Can direct latent model learning solve linear quadratic gaussian control? In Proceedings of the Learning for Decision and Control (L4DC), 2023.

  • Danny Driess, Zhiao Huang, Yunzhu Li, Russ Tedrake, and Marc Toussaint. Learning multi-object dynamics with compositional neural radiance fields. In Proc. of the Annual Conf. on Robot Learning (CoRL), volume 205 of Proceedings of Machine Learning Research, pages 1755--1768. PMLR, 14--18 Dec 2022. [ .pdf ]

  • Alexandre Amice, Hongkai Dai, Peter Werner, Annan Zhang, and Russ Tedrake. Finding and optimizing certified, collision-free regions in configuration space for robot manipulators. In Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR 2022), 2022. Winner of the conference Outstanding Paper Award.pdf ]

  • Guy Scher, Sadra Sadraddini, Russ Tedrake, and Hadas Kress-Gazit. Elliptical slice sampling for probabilistic verification of stochastic systems with signal temporal logic specifications. In To appear in the Proceedings of Hybrid Systems: Computation and Control (HSCC), 2022. [ .pdf ]

  • Jack Umenberger, Max Simchowitz, Juan Perdomo, Kaiqing Zhang, and Russ Tedrake. Globally convergent policy search for output estimation. In S. Koyejo, S. Mohamed, A. Agarwal, D. Belgrave, K. Cho, and A. Oh, editors, Advances in Neural Information Processing Systems, volume 35, pages 22778--22790. Curran Associates, Inc., 2022.

  • Jack Umenberger, Max Simchowitz, Juan C. Perdomo, Kaiqing Zhang, and Russ Tedrake. Globally convergent policy search over dynamic filters for output estimation. arxiv 2202.11659, 2022. [ http ]

  • H. J. Terry Suh, Max Simchowitz, Kaiqing Zhang, and Russ Tedrake. Do differentiable simulators give better policy gradients? In Proceedings of the 39th International Conference on Machine Learning, volume 162, pages 20668--20696. PMLR, July 2022. Winner of the ICML Outstanding Paper Award and Winner of the IEEE RAS TC on Model-based Optimization for Robotics Best Paper Award.pdf ]

  • H.J. Terry Suh, Tao Pang, and Russ Tedrake. Bundled gradients through contact via randomized smoothing. In H. Wang and H. Liu, editors, IEEE Robotics and Automation Letters, volume 7 (2), pages 4000--4007, April 2022. [ .pdf ] [ .05143 ] [ .be/6BLebS9Y1_8 ]

  • Lujie Yang, Kaiqing Zhang, Alexandre Amice, Yunzhu Li, and Russ Tedrake. Discrete approximate information states in partially observable environments. In Proceedings of the 2022 American Control Conference (ACC), 2022. [ .pdf ]

  • Tobia Marcucci, Jack Umenberger, Pablo A. Parrilo, and Russ Tedrake. Shortest paths in graphs of convex sets. arxiv, 2023. [ .pdf ] [ .11565 ]

  • Tao Pang and Russ Tedrake. Easing reliance on collision-free planning with contact-aware control. In IEEE International Conference on Robotics and Automation (ICRA), 2022. [ .pdf ]

  • Danny Driess, Jung-Su Ha, Marc Toussaint, and Russ Tedrake. Learning models as functionals of signed-distance fields for manipulation planning. In Proc. of the Annual Conf. on Robot Learning (CoRL), 2021. [ .pdf ] [ .com/watch?v=ga8Wlkss7co ]

  • Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, and Russ Tedrake. Lyapunov-stable neural-network control. In Robotics: Science and Systems, 2021. [ .pdf ]

  • Tao Pang, Jack Umenberger, and Russ Tedrake. Identifying external contacts from joint torque measurements on serial robotic arms and its limitations. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Xi'an, May 2021. [ .pdf ] [ .be/3TjevLu55V8 ]

  • Tao Pang and Russ Tedrake. A convex quasistatic time-stepping scheme for rigid multibody systems with contact and friction. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Xi'an, May 2021. [ .pdf ] [ .be/gJ5h_Kx8fJc ]

  • Wei Gao and Russ Tedrake. kpam 2.0: Feedback control for generalizable manipulation. IEEE Robotics and Automation Letters, 2020. [ .pdf ] [ .com/view/kpam2/home ]

  • Danny Driess, Jung-Su Ha, Russ Tedrake, and Marc Toussaint. Learning geometric reasoning and control for long-horizon tasks from visual input. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021. [ .pdf ] [ .be/AcPWRTkr3_g ]

  • Hongkai Dai, Benoit Landry, Marco Pavone, and Russ Tedrake. Counter-example guided synthesis of neural network lyapunov functions for piecewise linear systems. In Proceedings of the 2020 59th IEEE Conference on Decision and Control (CDC), 2020. [ .pdf ] [ .be/A8Bpqb27DEE ]

  • Lucas Manuelli, Yunzhu Li, Pete Florence, and Russ Tedrake. Keypoints into the future: Self-supervised correspondence in model-based reinforcement learning. In Conference on Robot Learning (CoRL), 2020. [ .pdf ] [ .com/view/keypointsintothefuture ]

  • Aman Sinha, Matthew O'Kelly, John Duchi, and Russ Tedrake. Neural bridge sampling for evaluating safety-critical autonomous systems. In Proceedings of Advances in Neural Information Processing Systems 33 pre-proceedings (NeurIPS 2020), 2020. [ http ]

  • Shen Shen and Russ Tedrake. Sampling quotient-ring sum-of-squares programs for scalable verification of nonlinear systems. In Proceedings of the 2020 59th IEEE Conference on Decision and Control (CDC), 2020. [ .pdf ]

  • Aman Sinha, Matthew O'Kelly, Hongrui Zheng, Rahul Mangharam, John Duchi, and Russ Tedrake. Formulazero: Distributionally robust online adaptation via offline population synthesis. In Proceedings of the International Conference on Machine Learning (ICML), 2020. [ http ]

  • Jack Umenberger and Thomas B Schon. Optimistic robust linear quadratic dual control. In Learning for Dynamics and Control. PMLR, 2020. [ .pdf ]

  • H.J. Terry Suh and Russ Tedrake. The surprising effectiveness of linear models for visual foresight in object pile manipulation. In To appear in Workshop on the Algorithmic Foundations of Robotics (WAFR), 2020. [ .pdf ] [ .com/watch?v=HfFSnsnR590 ]

  • Sadra Sadraddini and Russ Tedrake. Robust output feedback control with guaranteed constraint satisfaction. In In the Proceedings of 23rd ACM International Conference on Hybrid Systems: Computation and Control, page 12, April 2020. [ .pdf ]

  • Naveen Kuppuswamy, Alex Alspach, Avinash Uttamchandani, Sam Creasey, Takuya Ikeda, and Russ Tedrake. Soft-bubble grippers for robust and perceptive manipulation. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 9917--9924. IEEE, 2020.

  • Albert Wu, Sadra Sadraddini, and Russ Tedrake. The nearest polytope problem: Algorithms and application to controlling hybrid systems. In Proceedings of the 2020 American Control Conference (ACC), pages 1815--1822, 2020. [ .pdf ]

  • Wei Gao and Russ Tedrake. kPAM 2.0: Feedback control for category-level robotic manipulation. In Proceedings of the RSS 2020 Workshop on Visual Learning and Reasoning for Robotic Manipulation, 2020. Winner of the workshop Best Paper Award.

  • Peter Florence, Lucas Manuelli, and Russ Tedrake. Self-supervised correspondence in visuomotor policy learning. IEEE Robotics and Automation Letters, 5(2):492--499, April 2020. Winner of the RAL Best Paper Award for ICRA 2020..pdf ] [ .com/view/visuomotor-correspondence ] [ .be/nDRBKb4AGmA ]

  • Gregory Izatt and Russ Tedrake. Generative modeling of environments with scene grammars and variational inference. In Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020. [ .pdf ]

  • Albert Wu, Sadra Sadraddini, and Russ Tedrake. R3t: Rapidly-exploring random reachable set tree for optimal kinodynamic planning of nonlinear hybrid systems. In Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020. [ .pdf ] [ .be/E8TICePNqE0 ]

  • Naveen Kuppuswamy, Alejandro Castro, Calder Phillips-Grafflin, Alex Alspach, and Russ Tedrake. Fast model-based contact patch and pose estimation for highly deformable dense-geometry tactile sensors. IEEE Robotics and Automation Letters, 5(2):1811--1818, April 2020. Winner of the RAL Best Paper Award for ICRA 2020..pdf ] [ .org/abstract/document/8936859 ]

  • Weiqiao Han and Russ Tedrake. Local trajectory stabilization for dexterous manipulation via piecewise affine approximations. In Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020. [ .pdf ] [ .08045 ] [ .be/5Y9Y3b2ivW0 ]

  • Tobia Marcucci and Russ Tedrake. Warm start of mixed-integer programs for model predictive control of hybrid systems. IEEE Transactions on Automatic Control (TAC), pages 1 -- 1, July 2020. [ .pdf ] [ .08251 ]

  • Lucas Manuelli*, Wei Gao*, Peter Florence, and Russ Tedrake. kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation. In In Proceedings of the International Symposium of Robotics Research (ISRR), page arXiv:1903.06684, Mar 2019. [ http ]

  • Sadra Sadraddini and Russ Tedrake. Linear encodings for polytope containment problems. In Proceedings of the 2019 IEEE 58th Conference on Decision and Control (CDC), page 8, 2019. [ .pdf ]

  • Yunzhu Li, Jun-Yan Zhu, Russ Tedrake, and Antonio Torralba. Connecting touch and vision via cross-modal prediction. In Conference on Computer Vision and Pattern Recognition (CVPR), June 2019. [ .pdf ] [ .edu/ ]

  • Yunzhu Li, Jiajun Wu, Russ Tedrake, Joshua B. Tenenbaum, and Antonio Torralba. Learning particle dynamics for manipulating rigid bodies, deformable objects, and fluids. Proceedings of the International Conference on Learning Representations (ICLR), 2019. [ .pdf ] [ .edu/ ] [ .com/watch?v=FrPpP7aW3Lg ] [ .01566 ]

  • Tobia Marcucci and Russ Tedrake. Mixed-integer formulations for optimal control of piecewise-affine systems. 22nd ACM International Conference on Hybrid Systems: Computation and Control (HSCC '19), April 2019. [ .pdf ]

  • Robin Deits, Twan Koolen, and Russ Tedrake. LVIS: Learning from value function intervals for contact-aware robot controllers. In In Proceedings of the International Conference on Robotics and Automation (ICRA), 2019. [ .pdf ] [ .05802 ]

  • Yunzhu Li, Jiajun Wu, Jun-Yan Zhu, Joshua B. Tenenbaum, Antonio Torralba, and Russ Tedrake. Propagation networks for model-based control under partial observation. In Proceedings of the International Conference on Robotics and Automation (ICRA), May 2019. [ .pdf ] [ .edu/ ] [ .11169 ] [ .com/watch?v=ZAxHXegkz48 ]

  • Chris Sweeney, Greg Izatt, and Russ Tedrake. A supervised approach to predicting noise in depth images. In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, May 2019. [ .pdf ] [ .com/watch?v=_IURYCbGR88 ]

  • Sadra Sadraddini and Russ Tedrake. Sampling-based polytopic trees for approximate optimal control of piecewise affine systems. In Proceedings of the International Conference on Robotics and Automation, page 7, May 2019. [ .pdf ] [ .be/gGH0EuIzkgY ] [ .09716 ]

  • Weiqiao Han and Russ Tedrake. Controller synthesis for discrete-time hybrid polynomial systems via occupation measures. In Proceedings of the International Conference on Robotics and Automation, May 2019. [ .pdf ] [ .06715 ]

  • Jeong Joon Park, Peter Florence, Julian Straub, Richard Newcombe, and Steven Lovegrove. DeepSDF: Learning continuous signed distance functions for shape representation. In Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), June (To Appear) 2019. CVPR Best Paper Finalist (and Oral Presentation).pdf ] [ .com/watch?v=LILRJzMQw5o ]

  • Hongkai Dai, Gregory Izatt, and Russ Tedrake. Global inverse kinematics via mixed-integer convex optimization. To appear in the International Journal of Robotics Research, 2019. [ .pdf ]

  • Alex Alspach, Kunimatsu Hashimoto, Naveen Kuppuswamy, and Russ Tedrake. Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation. In Proceedings of RoboSoft 2019, 2019. [ .pdf ]

  • Jonathan A. DeCastro, Lucas Liebenwein, Cristian Ioan Vasile, Russ Tedrake, Sertac Karaman, and Daniela Rus. Counterexample-Guided Safety Contracts for Autonomous Driving. In Workshop on the Algorithmic Foundations of Robotics (WAFR), pages 1--16, Merida, Mexico, December 2018. [ .pdf ]

  • Wei Gao and Russ Tedrake. Filterreg: Robust and efficient probabilistic point-set registration using gaussian filter and twist parameterization. In Proceedings of theConference on Computer Vision and Pattern Recognition (CVPR), June 2019. CVPR Best Paper Finalist (and Oral Presentation).pdf ]

  • Peter R. Florence*, Lucas Manuelli*, and Russ Tedrake. Dense object nets: Learning dense visual object descriptors by and for robotic manipulation. In Conference on Robot Learning (CoRL), October 2018. Winner of the CoRL 2018 Best Paper Award and the Inaugural 2018 Best Technical Paper Award from Amazon Robotics.pdf ] [ .08756 ] [ .com/watch?v=L5UW1VapKNE ] [ .com/RobotLocomotion/pytorch-dense-correspondence ]

  • Matthew O'Kelly*, Aman Sinha*, Hongseok Namkoong*, Russ Tedrake, and John Duchi. Scalable end-to-end autonomous vehicle testing via rare-event simulation. In Advances in Neural Information Processing Systems, 2018. [ http ]

  • Weiqiao Han and Russ Tedrake. Controller synthesis for discrete-time polynomial systems via occupation measures. In the Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. [ .pdf ] [ .09022 ]

  • Tao Pang and Russ Tedrake. A robust time-stepping scheme for quasistatic rigid multibody systems. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. [ .pdf ]

  • Wei Gao and Russ Tedrake. Surfelwarp: Efficient non-volumetric single view dynamic reconstruction. In Robotics: Science and Systems, 2018. [ .pdf ]

  • Andrew Spielberg, Brandon Araki, Cynthia Sung, Russ Tedrake, and Daniela Rus. Functional co-optimization of articulated robots. In Proceedings of the IEEE International Conference on Robots and Automoation (ICRA), 2018. [ .pdf ] [ .m4v ]

  • Vincent Tjeng, Kai Xiao, and Russ Tedrake. Evaluating robustness of neural networks with mixed integer programming. In Proceedings of the International Conference on Learning Representations, 2019. [ .pdf ] [ .net/forum?id=HyGIdiRqtm ]

  • Shen Shen and Russ Tedrake. Compositional verification of large-scale nonlinear systems via sums-of-squares optimization. In Proceedings of the 2018 American Control Conference (ACC), Milwaukee, USA, (To Appear), June 2018. [ .pdf ]

  • Peter R. Florence, John Carter, Jake Ware, and Russ Tedrake. Nanomap: Fast, uncertainty-aware proximity queries with lazy search over local 3d data. In International Conference on Robotics and Automation (ICRA), Brisbane, Australia (To Appear), May 2018. [ .pdf ] [ .com/watch?v=9a0eEscz1Cs ]

  • Pat Marion, Peter R. Florence, Lucas Manuelli, and Russ Tedrake. A pipeline for generating ground truth labels for real RGBD data of cluttered scenes. In International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018. Finalist for Best Paper Award in Robot Visionhttp ] [ .pdf ] [ .com/watch?v=zoSNUAxiqzE ] [ .edu ]

  • Gregory Izatt, Hongkai Dai, and Russ Tedrake. Globally optimal object pose estimation in point clouds with mixed-integer programming. International Symposium on Robotics Research, Dec 2017. [ .pdf ]

  • Hongkai Dai, Gregory Izatt, and Russ Tedrake. Global inverse kinematics via mixed-integer convex optimization. International Symposium on Robotics Research, 2017. [ .pdf ]

  • Nima Fazeli, Russ Tedrake, and Alberto Rodriguez. Identifiability analysis of planar rigid-body frictional contact. In Proceedings of the International Symposium on Robotics Research, 2017. [ .pdf ]

  • Nima Fazeli, Roman Kolbert, Russ Tedrake, and Alberto Rodriguez. Parameter and contact force estimation of planar rigid-bodies undergoing frictional contact. International Journal of Robotics Research, 36(13-14):1437--1454, 2017. [ .pdf ]

  • Tobia Marcucci, Robin Deits, Marco Gabiccini, Antonio Bicchi, and Russ Tedrake. Approximate hybrid model predictive control for multi-contact push recovery in complex environments. In Humanoid Robots (Humanoids), 2017 IEEE-RAS 17th International Conference on, 2017. [ .pdf ]

  • Weiqiao Han and Russ Tedrake. Feedback design for multi-contact push recovery via LMI approximation of the piecewise-affine quadratic regulator. In Proceedings of the 2017 IEEE-RAS International Conference on Humanoid Robots, 2017. [ .pdf ]

  • Michael Posa, Twan Koolen, and Russ Tedrake. Balancing and step recovery capturability via sums-of-squares optimization. Robotics: Science and Systems, 2017. [ .pdf ]

  • Felix Naser, David Dorhout, Stephen Proulx, Scott Drew Pendleton, Hans Andersen, Wilko Schwarting, Liam Paull, Javier Alonso-Mora, Marcelo H. Ang Jr., Sertac Karaman, Russ Tedrake, John Leonard, and Daniela Rus. A parallel autonomy research platform. In Proceedings of the Intelligent Vehicles Symposium, 2017. [ .pdf ]

  • Anirudha Majumdar and Russ Tedrake. Funnel libraries for real-time robust feedback motion planning. International Journal of Robotics Research, 36(8):947 -- 982, 2017. Winner of the first IJRR Paper of the Year (2017).pdf ] [ .1177/0278364917712421 ]

  • Andrew J. Barry, Peter R. Florence, and Russ Tedrake. High-speed autonomous obstacle avoidance with pushbroom stereo. Journal of Field Robotics, 35(1):52--68, January 2018. [ .pdf ] [ .21741 ]

  • Gregory Izatt, Geronimo Mirano, Edward Adelson, and Russ Tedrake. Tracking objects with point clouds from vision and touch. In Proceedings of the International Conference on Robotics and Automation (ICRA), Singapore, May 2017. [ .pdf ] [ .com/watch?v=BIW_jq3dOEE ]

  • Hongkai Dai and Russ Tedrake. Planning robust walking motion on uneven terrain via convex optimization. IEEE-RAS International Conference on Humanoid Robots, 2016. Best Paper Award Finalist.pdf ]

  • Twan Koolen, Michael Posa, and Russ Tedrake. Balance control using center of mass height variation: limitations imposed by unilateral contact. In Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on, pages 8--15. IEEE, 2016. Best Paper Award Finalist.pdf ]

  • Peter R. Florence, John Carter, and Russ Tedrake. Integrated perception and control at high speed: Evaluating collision avoidance maneuvers without maps. In Proceedings of the Twelfth International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016), San Francisco, 2016. [ .pdf ]

  • Lucas Manuelli and Russ Tedrake. Localizing external contact using proprioceptive sensors: The contact particle filter. In International Conference on Intelligent Robots and Systems (IROS), October 2016. [ .pdf ] [ .be/ckvsMK0QhB0 ]

  • Pat Marion, Maurice Fallon, Robin Deits, Andrés Valenzuela, Claudia Pérez D'Arpino, Greg Izatt, Lucas Manuelli, Matt Antone, Hongkai Dai, Twan Koolen, John Carter, Scott Kuindersma, and Russ Tedrake. Director: A user interface designed for robot operation with shared autonomy. Journal of Field Robotics, 1556-4967, 2016. [ .pdf ] [ .21681/full ]

  • Pierre-Brice Wieber, Russ Tedrake, and Scott Kuindersma. Modeling and control of legged robots. In Bruno Siciliano and Oussama Khatib, editors, Springer Handbook of Robotics, 2nd Ed, chapter 48. Springer, 2015. [ .pdf ]

  • Philipp Reist, Pascal V. Preiswerk, and Russ Tedrake. Feedback-motion-planning with simulation-based lqr-trees. The International Journal of Robotics Research, 35(11):1393--1416, July 2 2016. [ .pdf ] [ .be/0-iHS6QdDuM ] [ .zip ]

  • Michael Posa, Scott Kuindersma, and Russ Tedrake. Optimization and stabilization of trajectories for constrained dynamical systems. In Proceedings of the International Conference on Robotics and Automation (ICRA), pages 1366--1373, Stockholm, Sweden, May 2016. [ .pdf ] [ .be/62GIUJC60P4 ]

  • Benoit Landry, Robin Deits, Peter R. Florence, and Russ Tedrake. Aggressive quadrotor flight through cluttered environments using mixed integer programming. In Proceedings of the International Conference on Robotics and Automation (ICRA), Stockhom, Sweden, May 2016. [ .pdf ] [ .com/watch?v=v-s564NoAu0 ]

  • Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, and Russ Tedrake. Optimization-based locomotion planning, estimation, and control design for the Atlas humanoid robot. Autonomous Robots, 40(3):429--455, 2016. [ .pdf ]

  • Maurice F. Fallon, Pat Marion, Robin Deits, Thomas Whelan, Matthew Antone, John McDonald, and Russ Tedrake. Continuous humanoid locomotion over uneven terrain using stereo fusion. In Proceedings of the 2015 IEEE-RAS International Conference on Humanoid Robotics, 2015. Winner of the conference Best Paper Award (Oral).pdf ]

  • Russ Tedrake, Scott Kuindersma, Robin Deits, and Kanako Miura. A closed-form solution for real-time ZMP gait generation and feedback stabilization. In Proceedings of the International Conference on Humanoid Robotics, Seoul, Korea, November 2015. [ .pdf ]

  • Hongkai Dai, Anirudha Majumdar, and Russ Tedrake. Synthesis and optimization of force closure grasps via sequential semidefinite programming. In International Symposium on Robotics Research, 2015. [ .pdf ]

  • Nima Fazeli, Russ Tedrake, and Alberto Rodriguez. Identifiability analysis of planar rigid-body frictional contact. In Proceedings of the International Symposium on Robotics Research, page 16, September 2015. [ .pdf ]

  • Andrew J. Barry, Helen Oleynikova, Dominik Honegger, Marc Pollefeys, and Russ Tedrake. FPGA vs. pushbroom stereo vision for MAVs. Vision-based Control and Navigation of Small Lightweight UAVs, IROS Workshop, 2015. [ .pdf ]

  • Robin Deits and Russ Tedrake. Efficient mixed-integer planning for UAVs in cluttered environments. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015. [ .pdf ] [ .com/watch?v=gJBitAHDPsA ]

  • Andrew J. Barry and Russ Tedrake. Pushbroom stereo for high-speed navigation in cluttered environments. In Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015. [ .pdf ] [ .com/watch?v=cZE01bJIgvQ ]

  • Andrew D Marchese, Russ Tedrake, and Daniela Rus. Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator. In Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, May 2015. IEEE. [ .pdf ]

  • Andrew D Marchese, Russ Tedrake, and Daniela Rus. Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator. International Journal of Robotics Research, OnlineFirst:1--20, August 2015. [ .pdf ]

  • Michael Posa, Mark Tobenkin, and Russ Tedrake. Stability analysis and control of rigid-body systems with impacts and friction. IEEE Transactions on Automatic Control (TAC), 61(6):1423 -- 1437, June 2016. [ .pdf ]

  • Robin Deits and Russ Tedrake. Footstep planning on uneven terrain with mixed-integer convex optimization. In Proceedings of the 2014 IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), Madrid, Spain, 2014. Winner of the conference Best Paper Award (Oral).pdf ] [ .be/hGhCTPQuMy4 ]

  • Maurice F. Fallon, Matthew Antone, Nicholas Roy, and Seth Teller. Drift-free humanoid state estimation fusing kinematic, inertial and lidar sensing. In International Conference on Humanoid Robots, Madrid, Spain, 2014. [ .pdf ] [ .com/watch?v=V_DxB76MkE4 ]

  • Hongkai Dai, Andrés Valenzuela, and Russ Tedrake. Whole-body motion planning with centroidal dynamics and full kinematics. IEEE-RAS International Conference on Humanoid Robots, 2014. [ .pdf ] [ .com/watch?v=2Vry-th8g2s ]

  • Anirudha Majumdar, Amir Ali Ahmadi, and Russ Tedrake. Control and verification of high-dimensional systems with DSOS and SDSOS programming. In Proceedings of the 53rd Conference on Decision and Control (CDC), 2014. [ .pdf ]

  • Frank Permenter and Pablo Parrilo. Basis selection for SOS programs via facial reduction and polyhedral approximations. Proceedings of the IEEE Conference on Decision and Control, December 2014..pdf ]

  • Victor Shia, Ram Vasudevan, Ruzena Bajcsy, and Russ Tedrake. Convex computation of the reachable set for controlled polynomial hybrid systems. In Proceedings of the 53rd Conference on Decision and Control (CDC), page 8, 2014. [ .pdf ]

  • Robin L H Deits and Russ Tedrake. Computing large convex regions of obstacle-free space through semidefinite programming. In Proceedings of the Eleventh International Workshop on the Algorithmic Foundations of Robotics (WAFR 2014), Istanbul, 2014. [ .pdf ]

  • Maurice Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider, Hongkai Dai, Claudia Pérez D'Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion, Michael Posa, Andrés Valenzuela, Kuan-Ting Yu, Julie Shah, Karl Iagnemma, Russ Tedrake, and Seth Teller. An architecture for online affordance-based perception and whole-body planning. Journal of Field Robotics, 32(2):229--254, September 2014. [ .pdf ]

  • Joseph Moore, Rick Cory, and Russ Tedrake. Robust post-stall perching with a simple fixed-wing glider using lqr-trees. Bioinspiration and Biomimetics, 9(2):15, June 2014. [ .pdf ]

  • Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, and Russ Tedrake. Convex optimization of nonlinear feedback controllers via occupation measures. International Journal of Robotics Research (IJRR), 33(9):1209--1230, August 2014. [ .pdf ]

  • Joseph Moore and Russ Tedrake. Adaptive control design for underactuated systems using sums-of-squares optimization. In Proceedings of the 2014 American Control Conference (ACC), Portland, Oregon, USA, June 2014. [ .pdf ]

  • Scott Kuindersma, Frank Permenter, and Russ Tedrake. An efficiently solvable quadratic program for stabilizing dynamic locomotion. In Proceedings of the International Conference on Robotics and Automation, Hong Kong, China, May 2014. IEEE. [ .pdf ] [ .1839v1 ]

  • R. Tedrake, M. Fallon, S. Karumanchi, S. Kuindersma, M. Antone, T. Schneider, T. Howard, M. Walter, H. Dai, R. Deits, M. Fleder, D. Fourie, R. Hammoud, S. Hemachandra, P. Ilardi, C. Perez-D'Arpino, S. Pillai, A. Valenzuela, C. Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, J. A. Shah, K. Iagnemma, and S. Teller. A summary of team MIT's approach to the virtual robotics challenge. In Proceedings of the International Conference on Robotics and Automation (ICRA), page 1, Hong Kong, China, May 2014. [ .pdf ] [ .com/watch?v=CXHLntka5q4 ]

  • Andrew J. Barry, Tim Jenks, Anirudha Majumdar, Huai-Ti Lin, Ivo G. Ros, Andrew Biewener, and Russ Tedrake. Flying between obstacles with an autonomous knife-edge maneuver. In Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Video Track, 2014. [ .pdf ] [ .com/watch?v=LGel-SdAIRg ]

  • Michael Posa, Cecilia Cantu, and Russ Tedrake. A direct method for trajectory optimization of rigid bodies through contact. International Journal of Robotics Research, 33(1):69--81, January 2014. [ .pdf ] [ .com/watch?v=pH1pDXnCBx4 ]

  • Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, and Russ Tedrake. Convex optimization of nonlinear feedback controllers via occupation measures. In Proceedings of Robotics: Science and Systems (RSS), 2013. [ .pdf ] [ .7484 ]

  • Frank Permenter, Charles W. Wampler, and Russ Tedrake. A numerical algebraic geometry approach to regional stability analysis. In Proceedings of the 2013 American Controls Conference, page 6, Washington, D.C., June 2013. [ .pdf ]

  • Amir Ali Ahmadi, Anirudha Majumdar, and Russ Tedrake. Complexity of ten decision problems in continuous time dynamical systems. In Proceedings of the 2013 American Control Conference (ACC), 2013. [ .pdf ]

  • Hongkai Dai and Russ Tedrake. L2-gain optimization for robust bipedal walking on unknown terrain. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), 2013. [ .pdf ]

  • Anirudha Majumdar, Amir Ali Ahmadi, and Russ Tedrake. Control design along trajectories with sums of squares programming. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), pages 4054--4061, 2013. Winner of the conference Best Paper Award.pdf ]

  • Michael Posa, Mark Tobenkin, and Russ Tedrake. Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares. In Proceedings of the 16th International Conference on Hybrid Systems: Computation and Control (HSCC 2013), pages 63--72. ACM, April 8-11 2013. Winner of the conference Best Paper Award. .pdf ]

  • Hongkai Dai and Russ Tedrake. Optimizing robust limit cycles for legged locomotion on unknown terrain. In Proceedings of the IEEE Conference on Decision and Control, page 8, Maui, Hawaii, December 2012. [ .pdf ]

  • Joseph Moore and Russ Tedrake. Control synthesis and verification for a perching UAV using LQR-trees. In Proceedings of the IEEE Conference on Decision and Control, page 8, Maui, Hawaii, December 2012. [ .pdf ]

  • F. Permenter and P.A. Parrilo. Selecting a monomial basis for sums of squares programming over a quotient ring. In The 51st IEEE Conference on Decision and Control, 2012. [ .pdf ]

  • Michael Posa and Russ Tedrake. Direct trajectory optimization of rigid body dynamical systems through contact. In Proceedings of the Workshop on the Algorithmic Foundations of Robotics, pages 527--542, Cambridge, MA, June 2012. [ .pdf ]

  • Ryuma Niiyama. Model-based trajectory control of robots with pneumatic actuator dynamics. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), 2012. [ .pdf ]

  • Anirudha Majumdar and Russ Tedrake. Robust online motion planning with regions of finite time invariance. In Proceedings of the Workshop on the Algorithmic Foundations of Robotics, page 16, Cambridge, MA, June 2012. [ .pdf ]

  • Anirudha Majumdar, Mark Tobenkin, and Russ Tedrake. Algebraic verification for parameterized motion planning libraries. In Proceedings of the 2012 American Control Conference (ACC), page 8, Montreal, CA, June 2012. [ .pdf ]

  • J. Zico Kolter, Zachary Jackowski, and Russ Tedrake. Design, analysis and learning control of a fully actuated micro wind turbine. In Proceedings of the 2012 American Control Conference (ACC), page 8, Montreal, CA, June 2012. [ .pdf ]

  • Jacob Steinhardt and Russ Tedrake. Finite-time regional verification of stochastic nonlinear systems. International Journal of Robotics Research, 31(7):901--923, June 2012. Extended journal version of RSS 2011 paper. [ http ] [ .pdf ]

  • Andrew J. Barry, Anirudha Majumdar, and Russ Tedrake. Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates. In Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), 2012. [ .pdf ] [ .tv/talks/55180/ ]

  • Elena Leah Glassman, Alexis Lussier Desbiens, Mark Tobenkin, Mark Cutkosky, and Russ Tedrake. Region of attraction estimation for a perching aircraft: A Lyapunov method exploiting barrier certificates. In Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), 2012. [ .pdf ]

  • Robert Platt, Leslie Kaelbling, Tomas Lozano-Perez, and Russ Tedrake. Non-gaussian belief space planning: Correctness and complexity. In Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), 2012. [ .pdf ]

  • Ian R. Manchester, Mark M. Tobenkin, and Jennifer Wang. Identification of nonlinear systems with stable oscillations. arXiv:1103.5431v1, 2011. [ http ]

  • Joseph Moore and Russ Tedrake. Magnetic localization for perching UAVs on powerlines. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2011. [ .pdf ]

  • A. Perez, S. Karaman, A. Shkolnik, E. Frazzoli, S. Teller, and M.R. Walter. Asymptotically-optimal path planning for manipulation using incremental sampling-based algorithms. In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages 4307--4313. IEEE, 2011. [ .pdf ]

  • R. Platt, L. Kaelbling, T. Lozano-Perez, and R. Tedrake. Efficient planning in non-gaussian belief spaces and its application to robot grasping. In Proceedings of the 15th International Symposium on Robotics Research, Flagstaff, AZ, September 2011. Extended version available in CSAIL Tech Report MIT- CSAIL-TR-2011-039 [ .pdf ]

  • R. Platt, L. Kaelbling, T. Lozano-Perez, and R. Tedrake. Simultaneous localization and grasping using belief space planning. In Proceedings of the workshop on manipulation under uncertainty, ICRA 2011, 2011. [ .pdf ]

  • Jacob Steinhardt and Russ Tedrake. Finite-time regional verification of stochastic nonlinear systems. In Proceedings of Robotics: Science and Systems (RSS) 2011, January 17 2011. Finalist for conference Best Student Paper Award.pdf ] [ .pdf ]

  • Mark M. Tobenkin, Ian R. Manchester, and Russ Tedrake. Invariant funnels around trajectories using sum-of-squares programming. Proceedings of the 18th IFAC World Congress, extended version available online: arXiv:1010.3013 [math.DS], 2011. MATLAB example in supplemental zip file [ arXiv | http ] [ .zip ]

  • Ian R. Manchester, Mark M. Tobenkin, Michael Levashov, and Russ Tedrake. Regions of attraction for hybrid limit cycles of walking robots. Proceedings of the 18th IFAC World Congress, extended version available online: arXiv:1010.2247 [math.OC], 2011. [ arXiv | http ]

  • Ian R. Manchester. Transverse dynamics and regions of stability for nonlinear hybrid limit cycles. Proceedings of the 18th IFAC World Congress, extended version available online: arXiv:1010.2241 [math.OC], Aug-Sep 2011. [ arXiv | http ]

  • John Roberts, Ian Manchester, and Russ Tedrake. Feedback controller parameterizations for reinforcement learning. In Proceedings of the 2011 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL), 2011. [ .pdf ]

  • Ian R. Manchester, Uwe Mettin, Fumiya Iida, and Russ Tedrake. Stable dynamic walking over uneven terrain. The International Journal of Robotics Research (IJRR), 30(3):265--279, January 24 2011. [ .pdf ]

  • Alexander Shkolnik, Michael Levashov, Ian R. Manchester, and Russ Tedrake. Bounding on rough terrain with the littledog robot. The International Journal of Robotics Research (IJRR), 30(2):192--215, Feb 2011. [ .pdf ]

  • Jan Peters, Russ Tedrake, Nicholas Roy, and Jun Morimoto. Robot learning. In Claude Sammut and Geoffrey I. Webb, editors, Encyclopedia of Machine Learning, pages 865--9. Springer, 2011.

  • Mark Tobenkin, Ian R. Manchester, Jennifer Wang, Alex Megretski, and Russ Tedrake. Convex optimization in identification of stable non-linear state space models. In Proceedings of the 49th IEEE Conference on Decision and Control (CDC 2010), extended version available online: arXiv:1009.1670 [math.OC], Dec 2010. [ .pdf ]

  • R. Platt, R. Tedrake, L.P. Kaelbling, and T. Lozano-Perez. Belief space planning assuming maximum likelihood observations. In Proceedings of Robotics: Science and Systems, 2010. [ .pdf ]

  • Russ Tedrake, Ian R. Manchester, Mark M. Tobenkin, and John W. Roberts. LQR-Trees: Feedback motion planning via sums of squares verification. International Journal of Robotics Research, 29:1038--1052, July 2010. [ http ] [ .pdf ]

  • Philipp Reist and Russ Tedrake. Simulation-based LQR-trees with input and state constraints. In Proceedings of the International Conference on Robotics and Automation (ICRA), 2010. [ .pdf ] [ .mp4 ]

  • Elena Glassman and Russ Tedrake. A quadratic regulator-based heuristic for rapidly exploring state space. In Proceedings of the International Conference on Robotics and Automation (ICRA), 2010. [ .pdf ]

  • Fumiya Iida and Russ Tedrake. Minimalistic control of biped walking in rough terrain. Autonomous Robots, OnlineFirst:355--368, January 7 2010. [ .pdf ] [ .1007/s10514-009-9174-3 ]

  • John W. Roberts, Jun Zhang, and Russ Tedrake. Motor learning at intermediate reynolds number: Experiments with policy gradient on the flapping flight of a rigid wing. In From Motor to Interaction Learning in Robots. Springer, 2009. [ .pdf ]

  • Russ Tedrake. LQR-Trees: Feedback motion planning on sparse randomized trees. In Proceedings of Robotics: Science and Systems (RSS), page 8, 2009. Winner of the Best Paper Award. (MATLAB examples/toolbox coming soon!). [ .pdf ] [ .pdf ]

  • Ian R. Manchester, Uwe Mettin, Fumiya Iida, and Russ Tedrake. Stable dynamic walking over rough terrain: Theory and experiment. In Proceedings of the International Symposium on Robotics Research (ISRR), 2009. [ .pdf ]

  • Katie Byl and Russ Tedrake. Metastable walking machines. International Journal of Robotics Research, 28(8):1040--1064, August 1 2009. [ http ] [ .pdf ]

  • Khashayar Rohanimanesh, Nicholas Roy, and Russ Tedrake. Towards feature selection in actor-critic algorithms. In Proceedings of the Workshop on Abstraction in Reinforcement Learning (ICML, UAI, COLT 2009), Montreal, Canada, June 18 2009. [ .pdf ]

  • Warren Hoburg and Russ Tedrake. System identification of post stall aerodynamics for UAV perching. In Proceedings of the AIAA Infotech@Aerospace Conference, Seattle, WA, April 2009. AIAA. [ .pdf ]

  • Joseph Moore and Russ Tedrake. Powerline perching with a fixed-wing UAV. In Proceedings of the AIAA Infotech@Aerospace Conference, Seattle, WA, April 2009. AIAA. [ .pdf ]

  • John W. Roberts, Rick Cory, and Russ Tedrake. On the controllability of fixed-wing perching. In Proceedings of the American Control Conference (ACC), 2009. [ .pdf ]

  • Alexander Shkolnik and Russ Tedrake. Path planning in 1000+ dimensions using a task-space Voronoi bias. In Proceedings of the IEEE/RAS International Conference on Robotics and Automation (ICRA). IEEE/RAS, 2009. [ .pdf ]

  • Alexander Shkolnik, Matthew Walter, and Russ Tedrake. Reachability-guided sampling for planning under differential constraints. In Proceedings of the International Conference on Robotics and Automation (ICRA), pages 2859--2865. IEEE/RAS, 2009. [ .pdf ]

  • Fumiya Iida and Russ Tedrake. Minimalistic control of a compass gait robot in rough terrain. In Proceedings of the IEEE/RAS International Conference on Robotics and Automation (ICRA). IEEE/RAS, 2009. [ .pdf ] [ .mp4 ]

  • Katie Byl and Russ Tedrake. Dynamically diverse legged locomotion for rough terrain. In Proceedings of the IEEE/RAS International Conference on Robotics and Automation (ICRA), video submission, May 2009. [ .pdf ] [ .mp4 ]

  • John W. Roberts and Russ Tedrake. Signal-to-noise ratio analysis of policy gradient algorithms. In Advances of Neural Information Processing Systems (NIPS) 21, page 8, 2009. [ .pdf ]

  • Katie Byl, Alexander Shkolnik, Sam Prentice, Nicholas Roy, and Russ Tedrake. Reliable dynamic motions for a stiff quadruped. In Proceedings of the 11th International Symposium on Experimental Robotics (ISER), 2008. Winner of IFRR Student Fellowship Award..pdf ] [ .mov ]

  • Alexander Shkolnik and Russ Tedrake. High-dimensional underactuated motion planning via task space control. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE/RSJ, 2008. [ .pdf ]

  • Rick Cory and Russ Tedrake. Experiments in fixed-wing UAV perching. In Proceedings of the AIAA Guidance, Navigation, and Control Conference, pages 1--12. AIAA, 2008. [ .pdf ] [ .mov ]

  • Katie Byl and Russ Tedrake. Metastable walking on stochastically rough terrain. In Proceedings of Robotics: Science and Systems IV, 2008. [ .pdf ] [ .avi ]

  • Katie Byl and Russ Tedrake. Approximate optimal control of the compass gait on rough terrain. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2008. [ .pdf ] [ .avi ]

  • Finale Doshi, Emma Brunskill, Alexander Shkolnik, Thomas Kollar, Khash Rohanimanesh, Russ Tedrake, and Nicholas Roy. A supervised learning approach for collision detection in legged locomotion. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. [ .pdf ]

  • Fumiya Iida and Russ Tedrake. Motor control optimization of compliant one-legged locomotion in rough terrain. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. [ .pdf ]

  • Alexander Shkolnik and Russ Tedrake. Inverse kinematics for a point-foot quadruped robot with dynamic redundancy resolution. In Proceedings of the 2007 IEEE International Conference on Robotics and Automation, April 2007. [ .pdf ]

  • Jerry E. Pratt and Russ Tedrake. Velocity based stability margins for fast bipedal walking. In Proceedings of the First Ruperto Carola Symposium on Fast Motions in Biomechanics and Robotics: Optimization and Feedback Control, volume 340, pages 299--324, Sep 2005. [ .pdf ] [ .mov ]

  • Russ Tedrake, Teresa Weirui Zhang, and H. Sebastian Seung. Learning to walk in 20 minutes. In Proceedings of the Fourteenth Yale Workshop on Adaptive and Learning Systems, Yale University, New Haven, CT, 2005. [ .pdf ]

  • Steven H. Collins, Andy Ruina, Russ Tedrake, and Martijn Wisse. Efficient bipedal robots based on passive-dynamic walkers. Science, 307:1082--1085, February 18 2005. [ .pdf ] [ .pdf ] [ .mov ] [ .mov ] [ .mov ] [ .pdf ]

  • Russ Tedrake, Teresa Weirui Zhang, and H. Sebastian Seung. Stochastic policy gradient reinforcement learning on a simple 3D biped. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), volume 3, pages 2849--2854, Sendai, Japan, September 2004. [ .pdf ]

  • Russ Tedrake, Teresa Weirui Zhang, Ming-fai Fong, and H. Sebastian Seung. Actuating a simple 3D passive dynamic walker. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), volume 5, pages 4656--4661, New Orleans, LA, April 2004. [ .pdf ]

  • Russ Tedrake and H. Sebastian Seung. Improved dynamic stability using reinforcement learning. In 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), pages 341--348, Paris, France, September 2002. Professional Engineering Publishing Limited. [ .pdf ]

  • Mike van Lent, John Laird, Josh Buckman, Joe Hartford, Steve Houchard, Kurt Steinkraus, and Russ Tedrake. Intelligent agents in computer games. In Proceedings of the American Association for Artificial Intelligence, pages 929--930, Orlando, FL, July 1999. [ .pdf ]

 

Archives and Technical Reports

  • Sadra Sadraddini and Russ Tedrake. Linear encodings for polytope containment problems. arXiv e-prints, page arXiv:1903.05214, Mar 2019. [ http ]

  • Alexander Shkolnik and Russ Tedrake. Sample-based planning with volumes in configuration space. arXiv:1109.3145v1 [cs.RO], 2011. [ http ]

  • Robert Platt, Leslie Kaelbling, Tomas Lozano-Perez, and Russ Tedrake. A hypothesis-based algorithm for planning and control in non-gaussian belief spaces. Technical Report MIT- CSAIL-TR-2011-039, Massachusetts Institute of Technology, August 2011. Extended version of ISRR 2011 paper. [ .pdf ]

  • Mark M. Tobenkin, Ian R. Manchester, Jennifer Wang, Alexandre Megretski, and Russ Tedrake. Convex optimization in identification of stable non-linear state space models. arXiv:1009.1670 [math.OC], 2010. Extended version of CDC paper. [ arXiv | http ]

  • Khashayar Rohanimanesh, Nicholas Roy, and Russ Tedrake. Towards feature selection in actor-critic algorithms. Technical report, Massachusetts Institute of Technology Computer Science and Artificial Intelligence Laboratory, 2007. [ .pdf ]

 

Conference Abstracts and Other Publications

  • Gregory Izatt and Russ Tedrake. Globally optimal object pose estimation in point clouds with mixed-integer programming. RSS 2017 Workshop on Articulated Model Tracking, Jul 2017. [ .pdf ]

  • Andrew J. Barry and Russ Tedrake. Pushbroom stereo for high-speed navigation in cluttered environments. In 3rd Workshop on Robots in Clutter: Perception and Interaction in Clutter, Chicago, Illinois, September 2014. [ .pdf ] [ .7091 ]

  • Jan Peters, Jun Morimoto, Russ Tedrake, and Nicholas Roy. Robot learning [TC Spotlight]. Robotics and Automation Magazine, IEEE, 16(3):19--20, September 2009. [ .pdf ]

  • John Roberts, Lionel Moret, Jun Zhang, and Russ Tedrake. Optimization of unsteady fluid-body interactions via machine learning. Presented at APS-DFD Meeting, November 2008.

  • Abderrahmane Bennis, Miriam Leeser, Gilead Tadmor, and Russ Tedrake. Implementation of a highly parameterized digital PIV system on reconfigurable hardware. In Proceedings of the Twelfth Annual Workshop on High Performance Embedded Computing (HPEC), Lexington, MA, September 2008. [ .pdf ]

  • Katie Byl and Russ Tedrake. Metastable rimless wheels. In Martijn Wisse, editor, Proceedings of Dynamic Walking IV, June 2008. [ .pdf ]

  • Katie Byl and Russ Tedrake. Control of the compass gait on rough terrain. In Martijn Wisse, editor, Proceedings of Dynamic Walking IV, June 2008. [ .pdf ]

  • Rick Cory and Russ Tedrake. On the controllability of agile fixed-wing flight. In Proceedings of the 2007 Symposium on Flying Insects and Robots (FIR), August 2007. [ .pdf ]

  • Katie Byl and Russ Tedrake. Stability of passive dynamic walking on uneven terrain. In Art Kuo, editor, Proceedings of Dynamic Walking 2006, May 2006. [ .pdf ] [ .pdf ]

 

Theses

  • Tobia Marcucci. Graphs of Convex Sets with Applications to Optimal Control and Motion Planning. PhD thesis, Massachusetts Institute of Technology, May 2024. [ .pdf ]

  • Mark Petersen. Dynamic Collision-Free Motion Planning for Robotic Manipulation using Graphs of Convex Sets. PhD thesis, Massachusetts Institute of Technology, May 2023. [ .pdf ]

  • Tao Pang. Planning, Sensing, and Control for Contact-rich Robotic Manipulation with Quasi-static Contact Models. PhD thesis, Massachusetts Institute of Technology, February 2023. [ .pdf ]

  • Yunzhu Li. Learning Structured World Models From and For Physical Interactions. PhD thesis, Massachusetts Institute of Technology, September 2022. [ .pdf ]

  • Gregory Izatt. Capturing Distributions over Worlds for Robotics with Spatial Scene Grammars. PhD thesis, Massachusetts Institute of Technology, May 2022. [ .pdf ]

  • Lucas Manuelli. Robot Manipulation with Learned Representations. PhD thesis, Massachusetts Institute of Technology, September 2020. [ .pdf ]

  • Shen Shen. Convex Optimization and Machine Learning for Scalable Verification and Control. PhD thesis, Massachusetts Institute of Technology, 2020. [ .pdf ]

  • Frans Anton Koolen. Balance control and locomotion planning for humanoid robots using nonlinear centroidal models. PhD thesis, Massachusetts Institute of Technology, September 2019. [ .pdf ]

  • Peter Florence. Dense Visual Learning for Robot Manipulation. PhD thesis, Massachusetts Institute of Technology, September 2019. [ .pdf ]

  • Robin L. H. Deits. Learning Contact-Aware Robot Controllers from Mixed-Integer Optimization. PhD thesis, Massachusetts Institute of Technology, October 2018. [ .pdf ]

  • Frank Noble Permenter. Reduction methods in semidefinite and conic optimization. PhD thesis, Massachusetts Institute of Technology, 2017. [ .pdf ]

  • Michael Posa. Optimization for Control and Planning of Multi-contact Dynamic Motion. PhD thesis, Massachusetts Institute of Technology, Jun 2017. [ .pdf ]

  • Hongkai Dai. Robust multi-contact dynamical motion planning using contact wrench set. PhD thesis, Massachusetts Institute of Technology, 2016. [ .pdf ]

  • Anirudha Majumdar. Funnel Libraries for Real-Time Robust Feedback Motion Planning. PhD thesis, Massachusetts Institute of Technology, Jun 2016. [ .pdf ]

  • Andrew J. Barry. High-Speed Autonomous Obstacle Avoidance with Pushbroom Stereo. PhD thesis, Massachusetts Institute of Technology, Feb 2016. [ .pdf ]

  • Andrés K. Valenzuela. Mixed-Integer Convex Optimization for Planning Aggressive Motions of Legged Robots Over Rough Terrain. PhD thesis, Massachusetts Institute of Technology, Feb 2016. [ .pdf ]

  • Joseph Moore. Robust Post-Stall Perching with a Fixed-Wing UAV. PhD thesis, Massachusetts Institute of Technology, September 2014. [ .pdf ]

  • Mark M. Tobenkin. Robustness Analysis for Identification and Control of Nonlinear Systems. PhD thesis, Massachusetts Institute of Technology, February 2014. [ .pdf ]

  • John W. Roberts. Control of Underactuated Fluid-Body Systems with Real-Time Particle Image Velocimetry. PhD thesis, Massachusetts Institute of Technology, June 2012. [ .pdf ]

  • Rick Cory. Supermaneuverable Perching. PhD thesis, Massachusetts Institute of Technology, June 2010. [ .pdf ]

  • Alexander Shkolnik. Sample-Based Motion Planning in High-Dimensional and Differentially-Constrained Systems. PhD thesis, MIT, February 2010. [ .pdf ]

  • Katie Byl. Metastable Legged-Robot Locomotion. PhD thesis, MIT, Sep 2008. [ .pdf ]

  • Russell L Tedrake. Applied Optimal Control for Dynamically Stable Legged Locomotion. PhD thesis, Massachusetts Institute of Technology, 2004. [ .pdf ]

     

  • Thomas Cohn. Motion planning along manifolds with geodesic convexity and analytic inverse kinematics. Master's thesis, Massachusetts Institute of Technology, May 2024. [ .pdf ]

  • David von Wrangel. Guiding nonconvex trajectory optimization with hierarchical graphs of convex sets. Master's thesis, Massachusetts Institute of Technology, May 2024. [ .pdf ]

  • Ria Sonecha. Geometric approaches for 3-dimensional shape approximation. Master's thesis, Massachusetts Institute of Technology, May 2023. [ .pdf ]

  • Andy Lambert. Identifying objects’ inertial parameters with robotic manipulation to create simulation-ready assets. Master's thesis, Massachusetts Institute of Technology, May 2023. [ .pdf ]

  • Michelle Tan. Stabilizing demonstration trajectories of linear deformable objects for robotic shoe tying. Master's thesis, Massachusetts Institute of Technology, June 2021. [ .pdf ]

  • Albert Wu. Sampling-based planning for hybrid systems via reachability guidance and policy approximation. Master's thesis, Massachusetts Institute of Technology, May 2020. [ .pdf ]

  • Yunzhu Li. Learning compositional dynamics models for model-based control. Master's thesis, Massachusetts Institute of Technology, May 2020. [ .pdf ]

  • Katy G. Muhlrad. Model-based design for full-stack robot manipulation. Master's thesis, Massachusetts Institute of Technology, June 2019. [ .pdf ]

  • Lucas Manuelli. Localizing External Contact Using Proprioceptive Sensors: The Contact Particle Filter. Master's thesis, MIT, 2018. [ .pdf ]

  • Vincent Tjeng. Evaluating robustness of neural networks with mixed integer programming. Master's thesis, Massachusetts Institute of Technology, September 2018. [ .pdf ]

  • Peter R. Florence. Integrated perception and control at high speed. Master's thesis, MIT, February 2017. [ .pdf ]

  • Gregory Izatt and Russ Tedrake. Robust object pose estimation with point clouds from vision and touch. Master's thesis, MIT, Jun 2017. [ .pdf ]

  • Geronimo Mirano. Jacobian-based control of soft robots for manipulation using implicit surface models. Master's thesis, Massachusetts Institute of Technology, May 2017. [ .pdf ]

  • Pat Marion. Perception methods for continuous humanoid locomotion over uneven terrain. Master's thesis, Massachusetts Institute of Technology, May 2016. [ .pdf ]

  • Benoit Landry. Planning and control for quadrotor flight through cluttered environments. Master's thesis, Massachusetts Institute of Technology, June 2015. [ .pdf ] [ .com/watch?v=v-s564NoAu0 ]

  • Robin Deits. Convex segmentation and mixed-integer footstep planning for a walking robot. Master's thesis, Massachusetts Institute of Technology, Sep 2014. [ .pdf ]

  • Anirudha Majumdar. Robust online motion planning with reachable sets. Master's thesis, Massachusetts Institute of Technology, May 2013. [ .pdf ]

  • Samvaran Sharma. DARTPIV: Dynamic adaptive real-time particle image velocimetry. Master's thesis, Massachusetts Institute of Technology, May 2013. [ .pdf ]

  • Andrew J. Barry. Flying between obstacles with an autonomous knife-edge maneuver. Master's thesis, Massachusetts Institute of Technology, Sep 2012. [ .pdf ]

  • Hongkai Dai. Robust Bipedal Locomotion on Unknown Terrain. Master's thesis, Massachusetts Institute of Technology, September 2012. [ .pdf ]

  • Michael Yurievich Levashov. Modeling, system identi cation, and control for dynamic locomotion of the LittleDog robot on rough terrain. Master's thesis, Massachusetts Institute of Technology, September 2011. [ .pdf ]

  • Zack Jackowski. Design, construction, and experiments with a compass gait walking robot. Master's thesis, Massachusetts Institute of Technology, June 2011. [ .pdf ]

  • Joseph Moore. Powerline perching with a fixed-wing UAV. Master's thesis, Massachusetts Institute of Technology, May 2011. [ .pdf ]

  • Elena Leah Glassman. A quadratic regulator-based heuristic for rapidly exploring state space. Master's thesis, Massachusetts Institute of Technology, February 2010. [ .pdf ]

  • John W. Roberts. Motor learning on a heaving plate via improved-SNR algorithms. Master's thesis, Massachusetts Institute of Technology, February 2009. [ .pdf ]

  • Rick E. Cory. Perching with fixed wings. Master's thesis, Massachusetts Institute of Technology, 2008. Winner of the 2008 MIT Computer Science MS Thesis Award.pdf ]

  • Vanessa Hsu. Passive dynamic walking with knees: A point-foot model. Master's thesis, Massachusetts Institute of Technology, February 2007. [ .pdf ]

     

  • Zachary Jackowski. The design and construction of an autonomous ornithopter. Mechanical Engineering Undergraduate Thesis, Massachusetts Institute of Technology, June 2009. [ .pdf ]

  • John Glowa. Design and process/measurement for immersed element control in a reconfigurable vertically falling soap film. Mechanical Engineering Undergraduate Thesis, Massachusetts Institute of Technology, June 2007. [ .pdf ]

  • Arlis Reynolds. Design and control of a clutch for a minimally-actuated biped based on the passive-dynamic simple walker. Mechanical Engineering Undergraduate Thesis, Massachusetts Institute of Technology, June 2006. [ .pdf ]

  • Andrew Griffin Baines. Knee design for a bipedal walking robot based on a passive-dynamic walker. Mechanical Engineering Undergraduate Thesis, Massachusetts Institute of Technology, June 2005. [ .pdf ]

  • Ming fai Fong. Mechanical design of a simple bipedal robot. Mechanical Engineering Undergraduate Thesis, Massachusetts Institute of Technology, June 2005. [ .pdf ]