Optimizing robust limit cycles for legged locomotion on unknown terrain. - Hongkai Dai; Russ Tedrake (CDC, 2012)

L2-gain optimization for robust bipedal walking on unknown terrain. - Hongkai Dai; Russ Tedrake (ICRA, 2013)

Whole-body motion planning with centroidal dynamics and full kinematics. - Hongkai Dai; Andres Valenzuela; Russ Tedrake (Humanoids, 2014)

A summary of team MIT's approach to the virtual robotics challenge. - Russ Tedrake; Maurice F. Fallon; Sisir Karumanchi; Scott Kuindersma; Matthew E. Antone; Toby Schneider; Thomas M. Howard; Matthew R. Walter; Hongkai Dai; Robin Deits; Michael Fleder; Dehann Fourie; et al. (ICRA, 2014)

Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming. - Hongkai Dai; Anirudha Majumdar; Russ Tedrake (ISRR (1), 2015)

Generalizing Over Uncertain Dynamics for Online Trajectory Generation. - Beomjoon Kim; Albert Kim; Hongkai Dai; Leslie Pack Kaelbling; Tomás Lozano-Pérez (ISRR (2), 2015)

An Architecture for Online Affordance-based Perception and Whole-body Planning. - Maurice F. Fallon; Scott Kuindersma; Sisir Karumanchi; Matthew E. Antone; Toby Schneider; Hongkai Dai; Claudia Pérez-D'Arpino; Robin Deits; Matt DiCicco; Dehann Fourie; Twan Koolen; Pat Marion; et al. (J. Field Robotics, 2015)

Planning robust walking motion on uneven terrain via convex optimization. - Hongkai Dai; Russ Tedrake (Humanoids, 2016)

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)

Robust multi-contact dynamical motion planning using contact wrench set. - Hongkai Dai (2016)

A mixed-integer convex optimization framework for robust multilegged robot locomotion planning over challenging terrain. - Bernardo Aceituno-Cabezas; Hongkai Dai; José Cappelletto; Juan C. Grieco; Gerardo Fernández-López (IROS, 2017)

Globally Optimal Object Pose Estimation in Point Clouds with Mixed-Integer Programming. - Gregory Izatt; Hongkai Dai; Russ Tedrake (ISRR, 2017)

The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP). - Romeo Orsolino; Michele Focchi; Carlos Mastalli; Hongkai Dai; Darwin G. Caldwell; Claudio Semini (CoRR, 2017)

A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes. - Romeo Orsolino; Michele Focchi; Carlos Mastalli; Hongkai Dai; Darwin G. Caldwell; Claudio Semini (CoRR, 2017)

Director: A User Interface Designed for Robot Operation with Shared Autonomy. - Pat Marion; Maurice F. Fallon; Robin Deits; Andres Valenzuela; Claudia Pérez-D'Arpino; Greg Izatt; Lucas Manuelli; Matthew E. Antone; Hongkai Dai; Twan Koolen; John Carter; Scott Kuindersma; et al. (J. Field Robotics, 2017)

Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization. - Bernardo Aceituno-Cabezas; Carlos Mastalli; Hongkai Dai; Michele Focchi; Andreea Radulescu; Darwin G. Caldwell; José Cappelletto; Juan C. Grieco; Gerardo Fernández-López; Claudio Semini (IEEE Robotics Autom. Lett., 2018)

Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots. - Romeo Orsolino; Michele Focchi; Carlos Mastalli; Hongkai Dai; Darwin G. Caldwell; Claudio Semini (IEEE Robotics Autom. Lett., 2018)

A Convex-Combinatorial Model for Planar Caging. - Bernardo Aceituno-Cabezas; Hongkai Dai; Alberto Rodriguez 003 (IROS, 2019)

Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization. - Bernardo Aceituno-Cabezas; Carlos Mastalli; Hongkai Dai; Michele Focchi; Andreea Radulescu; Darwin G. Caldwell; José Cappelletto; Juan C. Grieco; Gerardo Fernández-López; Claudio Semini (CoRR, 2019)

Global inverse kinematics via mixed-integer convex optimization. - Hongkai Dai; Gregory Izatt; Russ Tedrake (Int. J. Robotics Res., 2019)

Counter-example guided synthesis of neural network Lyapunov functions for piecewise linear systems. - Hongkai Dai; Benoit Landry; Marco Pavone 001; Russ Tedrake (CDC, 2020)

SEAGuL: Sample Efficient Adversarially Guided Learning of Value Functions. - Benoit Landry; Hongkai Dai; Marco Pavone 001 (L4DC, 2021)

Lyapunov-stable neural-network control. - Hongkai Dai; Benoit Landry; Lujie Yang; Marco Pavone 001; Russ Tedrake (Robotics: Science and Systems, 2021)

Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators. - Alexandre Amice; Hongkai Dai; Peter Werner; Annan Zhang; Russ Tedrake (WAFR, 2022)

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

Efficient Sum of Squares-Based Verification and Construction of Control Barrier Functions by Sampling on Algebraic Varieties. - Hongchao Zhang; Zhouchi Li; Hongkai Dai; Andrew Clark 001 (CDC, 2023)

AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer. - Allen Z. Ren; Hongkai Dai; Benjamin Burchfiel; Anirudha Majumdar (CoRL, 2023)

Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching. - H. J. Terry Suh; Glen Chou; Hongkai Dai; Lujie Yang; Abhishek Gupta; Russ Tedrake (CoRL, 2023)

Suboptimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares. - Lujie Yang; Hongkai Dai; Alexandre Amice; Russ Tedrake (CoRR, 2023)

Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares. - Lujie Yang; Hongkai Dai; Alexandre Amice; Russ Tedrake (IEEE Robotics Autom. Lett., 2023)

Verification and Synthesis of Compatible Control Lyapunov and Control Barrier Functions. - Hongkai Dai; Chuanrui Jiang; Hongchao Zhang; Andrew Clark 001 (CDC, 2024)

Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation. - Lujie Yang; Hongkai Dai; Zhouxing Shi; Cho-Jui Hsieh; Russ Tedrake; Huan Zhang 001 (ICML, 2024)

Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation for Efficient Synthesis and Verification. - Lujie Yang; Hongkai Dai; Zhouxing Shi; Cho-Jui Hsieh; Russ Tedrake; Huan Zhang 001 (CoRR, 2024)

Certified polyhedral decompositions of collision-free configuration space. - Hongkai Dai; Alexandre Amice; Peter Werner; Annan Zhang; Russ Tedrake (Int. J. Robotics Res., 2024)

Diffusion Policy Policy Optimization. - Allen Z. Ren; Justin Lidard; Lars Lien Ankile; Anthony Simeonov; Pulkit Agrawal 001; Anirudha Majumdar; Benjamin Burchfiel; Hongkai Dai; Max Simchowitz (ICLR, 2025)

Steerable Scene Generation with Post Training and Inference-Time Search. - Nicholas Pfaff; Hongkai Dai; Sergey Zakharov; Shun Iwase; Russ Tedrake (CoRR, 2025)

A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation. - TRI LBM Team; Jose Barreiros; Andrew Beaulieu; Aditya Bhat; Rick Cory; Eric Cousineau; Hongkai Dai; Ching-Hsin Fang; Kunimatsu Hashimoto; Muhammad Zubair Irshad; Masha Itkina; Naveen Kuppuswamy; et al. (CoRR, 2025)