Robonaut 2 - The first humanoid robot in space. - Myron A. Diftler; Joshua Mehling; Muhammad E. Abdallah; Nicolaus A. Radford; Lyndon B. Bridgwater; Adam M. Sanders; Roger Scott Askew; D. Marty Linn; John D. Yamokoski; Frank Permenter; Brian K. Hargrave; Robert Platt Jr. 001; et al. (ICRA, 2011)

A miniature load cell suitable for mounting on the phalanges of human-sized robot fingers. - Robert Platt Jr. 001; Chris Ihrke; Lyndon Bridgwater; Douglas Linn; Ron Diftler; Muhammad E. Abdallah; R. Scott Askew; Frank Permenter (ICRA, 2011)

Using Bayesian Filtering to Localize Flexible Materials During Manipulation. - Robert Platt Jr. 001; Frank Permenter; Joel Pfeiffer (IEEE Trans. Robotics, 2011)

Selecting a monomial basis for sums of squares programming over a quotient ring. - Frank Permenter; Pablo A. Parrilo (CDC, 2012)

Position control of tendon-driven fingers with position controlled actuators. - Muhammad E. Abdallah; Robert Platt Jr. 001; Brian K. Hargrave; Frank Permenter (ICRA, 2012)

A numerical algebraic geometry approach to regional stability analysis of polynomial systems. - Frank Permenter; Charles W. Wampler; Russ Tedrake (ACC, 2013)

Basis selection for SOS programs via facial reduction and polyhedral approximations. - Frank Permenter; Pablo A. Parrilo (CDC, 2014)

An efficiently solvable quadratic program for stabilizing dynamic locomotion. - Scott Kuindersma; Frank Permenter; Russ Tedrake (ICRA, 2014)

Finding sparse, equivalent SDPs using minimal coordinate projections. - Frank Permenter; Pablo A. Parrilo (CDC, 2015)

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot. - Scott Kuindersma; Robin Deits; Maurice F. Fallon; Andres Valenzuela; Hongkai Dai; Frank Permenter; Twan Koolen; Pat Marion; Russ Tedrake (Auton. Robots, 2016)

Solving Conic Optimization Problems via Self-Dual Embedding and Facial Reduction: A Unified Approach. - Frank Permenter; Henrik A. Friberg; Erling D. Andersen (SIAM J. Optim., 2017)

Reduction methods in semidefinite and conic optimization. - Frank Permenter (2017)

Partial facial reduction: simplified, equivalent SDPs via approximations of the PSD cone. - Frank Permenter; Pablo A. Parrilo (Math. Program., 2018)

Dimension reduction for semidefinite programs via Jordan algebras. - Frank Permenter; Pablo A. Parrilo (Math. Program., 2020)

A Computationally Governed Log-domain Interior-point Method for Model Predictive Control. - Jordan Leung; Frank Permenter; Ilya V. Kolmanovsky (ACC, 2022)

Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints. - Hongkai Dai; Frank Permenter (ACC, 2023)

Interpreting and Improving Diffusion Models Using the Euclidean Distance Function. - Frank Permenter; Chenyang Yuan 001 (CoRR, 2023)

Surrogate Modeling of Car Drag Coefficient with Depth and Normal Renderings. - Binyang Song; Chenyang Yuan 001; Frank Permenter; Nikos Aréchiga; Faez Ahmed (CoRR, 2023)

Drag-guided diffusion models for vehicle image generation. - Nikos Aréchiga; Frank Permenter; Binyang Song; Chenyang Yuan 001 (CoRR, 2023)

An Unconstrained Convex Formulation of Compliant Contact. - Alejandro M. Castro; Frank Permenter; Xuchen Han (IEEE Trans. Robotics, 2023)

A Geodesic Interior-Point Method for Linear Optimization over Symmetric Cones. - Frank Permenter (SIAM J. Optim., 2023)

Log-domain interior-point methods for convex quadratic programming. - Frank Permenter (Optim. Lett., 2023)

Interpreting and Improving Diffusion Models from an Optimization Perspective. - Frank Permenter; Chenyang Yuan 001 (ICML, 2024)

A stability governor for constrained linear-quadratic MPC without terminal constraints. - Jordan Leung; Frank Permenter; Ilya V. Kolmanovsky (Autom., 2024)

Bridging Design Gaps: A Parametric Data Completion Approach With Graph Guided Diffusion Models. - Rui Zhou; Chenyang Yuan 001; Frank Permenter; Yanxia Zhang; Nikos Aréchiga; Matthew Klenk 001; Faez Ahmed (CoRR, 2024)

VehicleSDF: A 3D generative model for constrained engineering design via surrogate modeling. - Hayata Morita; Kohei Shintani; Chenyang Yuan 001; Frank Permenter (CoRR, 2024)

Parametric-ControlNet: Multimodal Control in Foundation Models for Precise Engineering Design Synthesis. - Rui Zhou; Yanxia Zhang; Chenyang Yuan 001; Frank Permenter; Nikos Aréchiga; Matt Klenk; Faez Ahmed (CoRR, 2024)

A Computational Governor for Maintaining Feasibility and Low Computational Cost in Model Predictive Control. - Jordan Leung; Frank Permenter; Ilya V. Kolmanovsky (IEEE Trans. Autom. Control., 2024)

Inexact log-domain interior-point methods for quadratic programming. - Jordan Leung; Frank Permenter; Ilya V. Kolmanovsky (Comput. Optim. Appl., 2024)

Enhancing Sample Generation of Diffusion Models using Noise Level Correction. - Abulikemu Abuduweili; Chenyang Yuan 001; Changliu Liu; Frank Permenter (Trans. Mach. Learn. Res., 2025)