Russ Tedrake

According to our database1, Russ Tedrake authored at least 144 papers between 1999 and 2021.

Collaborative distances:
  • Dijkstra number2 of four.
  • Erdős number3 of four.

Timeline

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Bibliography

2021
kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation.
IEEE Robotics Autom. Lett., 2021

Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control.
CoRR, 2021

Shortest Paths in Graphs of Convex Sets.
CoRR, 2021

2020
Fast Model-Based Contact Patch and Pose Estimation for Highly Deformable Dense-Geometry Tactile Sensors.
IEEE Robotics Autom. Lett., 2020

Self-Supervised Correspondence in Visuomotor Policy Learning.
IEEE Robotics Autom. Lett., 2020

Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning.
CoRR, 2020

The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation.
CoRR, 2020

Neural Bridge Sampling for Evaluating Safety-Critical Autonomous Systems.
Proceedings of the Advances in Neural Information Processing Systems 33: Annual Conference on Neural Information Processing Systems 2020, 2020

Soft-bubble grippers for robust and perceptive manipulation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

R3T: Rapidly-exploring Random Reachable Set Tree for Optimal Kinodynamic Planning of Nonlinear Hybrid Systems.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Generative Modeling of Environments with Scene Grammars and Variational Inference.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis.
Proceedings of the 37th International Conference on Machine Learning, 2020

Robust output feedback control with guaranteed constraint satisfaction.
Proceedings of the HSCC '20: 23rd ACM International Conference on Hybrid Systems: Computation and Control, 2020

Sampling Quotient-Ring Sum-of-Squares Programs for Scalable Verification of Nonlinear Systems.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Counter-example guided synthesis of neural network Lyapunov functions for piecewise linear systems.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

The Nearest Polytope Problem: Algorithms and Application to Controlling Hybrid Systems.
Proceedings of the 2020 American Control Conference, 2020

2019
Global inverse kinematics via mixed-integer convex optimization.
Int. J. Robotics Res., 2019

Warm Start of Mixed-Integer Programs for Model Predictive Control of Hybrid Systems.
CoRR, 2019

kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion.
CoRR, 2019

kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation.
CoRR, 2019

Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation.
Proceedings of the IEEE International Conference on Soft Robotics, 2019

A Supervised Approach to Predicting Noise in Depth Images.
Proceedings of the International Conference on Robotics and Automation, 2019

Sampling-Based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems.
Proceedings of the International Conference on Robotics and Automation, 2019

Propagation Networks for Model-Based Control Under Partial Observation.
Proceedings of the International Conference on Robotics and Automation, 2019

Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures.
Proceedings of the International Conference on Robotics and Automation, 2019

LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers.
Proceedings of the International Conference on Robotics and Automation, 2019

Evaluating Robustness of Neural Networks with Mixed Integer Programming.
Proceedings of the 7th International Conference on Learning Representations, 2019

Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids.
Proceedings of the 7th International Conference on Learning Representations, 2019

Mixed-integer formulations for optimal control of piecewise-affine systems.
Proceedings of the 22nd ACM International Conference on Hybrid Systems: Computation and Control, 2019

Connecting Touch and Vision via Cross-Modal Prediction.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2019

FilterReg: Robust and Efficient Probabilistic Point-Set Registration Using Gaussian Filter and Twist Parameterization.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2019

Linear Encodings for Polytope Containment Problems.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

2018
High-speed autonomous obstacle avoidance with pushbroom stereo.
J. Field Robotics, 2018

Convex Optimization of Nonlinear State Feedback Controllers for Discrete-time Polynomial Systems via Occupation Measures.
CoRR, 2018

Counterexample-Guided Safety Contracts for Autonomous Driving.
Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction.
Proceedings of the Robotics: Science and Systems XIV, 2018

Scalable End-to-End Autonomous Vehicle Testing via Rare-event Simulation.
Proceedings of the Advances in Neural Information Processing Systems 31: Annual Conference on Neural Information Processing Systems 2018, 2018

A Robust Time-Stepping Scheme for Quasistatic Rigid Multibody Systems.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Label Fusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search Over Local 3D Data.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation.
Proceedings of the 2nd Annual Conference on Robot Learning, 2018

Compositional Verification of Large-Scale Nonlinear Systems via Sums-of-Squares Optimization.
Proceedings of the 2018 Annual American Control Conference, 2018

2017
Robot Learning.
Proceedings of the Encyclopedia of Machine Learning and Data Mining, 2017

Whole-Body Control [TC Spotlight].
IEEE Robotics Autom. Mag., 2017

Director: A User Interface Designed for Robot Operation with Shared Autonomy.
J. Field Robotics, 2017

Funnel libraries for real-time robust feedback motion planning.
Int. J. Robotics Res., 2017

Parameter and contact force estimation of planar rigid-bodies undergoing frictional contact.
Int. J. Robotics Res., 2017

Verifying Neural Networks with Mixed Integer Programming.
CoRR, 2017

A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes.
CoRR, 2017

Balancing and Step Recovery Capturability via Sums-of-Squares Optimization.
Proceedings of the Robotics: Science and Systems XIII, 2017

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload.
Proceedings of the Robotics: Science and Systems XIII, 2017


Globally Optimal Object Pose Estimation in Point Clouds with Mixed-Integer Programming.
Proceedings of the Robotics Research, The 18th International Symposium, 2017

Functional co-optimization of articulated robots.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Tracking objects with point clouds from vision and touch.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Convex and Combinatorial Optimization for Dynamic Robots in the Real World.
Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control, 2017

Approximate hybrid model predictive control for multi-contact push recovery in complex environments.
Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

Feedback design for multi-contact push recovery via LMI approximation of the Piecewise-Affine Quadratic Regulator.
Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016
Modeling and Control of Legged Robots.
Proceedings of the Springer Handbook of Robotics, 2016

Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction.
IEEE Trans. Autom. Control., 2016

Feedback-motion-planning with simulation-based LQR-trees.
Int. J. Robotics Res., 2016

Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator.
Int. J. Robotics Res., 2016

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot.
Auton. Robots, 2016

Integrated Perception and Control at High Speed: Evaluating Collision Avoidance Maneuvers Without Maps.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Localizing external contact using proprioceptive sensors: The Contact Particle Filter.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Optimization and stabilization of trajectories for constrained dynamical systems.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Aggressive quadrotor flight through cluttered environments using mixed integer programming.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Balance control using center of mass height variation: Limitations imposed by unilateral contact.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Planning robust walking motion on uneven terrain via convex optimization.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

2015
An Architecture for Online Affordance-based Perception and Whole-body Planning.
J. Field Robotics, 2015

Identifiability Analysis of Planar Rigid-Body Frictional Contact.
Proceedings of the Robotics Research, 2015

Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming.
Proceedings of the Robotics Research, 2015

Efficient mixed-integer planning for UAVs in cluttered environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Pushbroom stereo for high-speed navigation in cluttered environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

A closed-form solution for real-time ZMP gait generation and feedback stabilization.
Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

Continuous humanoid locomotion over uneven terrain using stereo fusion.
Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

2014
A direct method for trajectory optimization of rigid bodies through contact.
Int. J. Robotics Res., 2014

Convex optimization of nonlinear feedback controllers via occupation measures.
Int. J. Robotics Res., 2014

Computing Large Convex Regions of Obstacle-Free Space Through Semidefinite Programming.
Proceedings of the Algorithmic Foundations of Robotics XI, 2014


An efficiently solvable quadratic program for stabilizing dynamic locomotion.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Flying between obstacles with an autonomous knife-edge maneuver.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Footstep planning on uneven terrain with mixed-integer convex optimization.
Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Whole-body motion planning with centroidal dynamics and full kinematics.
Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Convex computation of the reachable set for controlled polynomial hybrid systems.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Control and verification of high-dimensional systems with DSOS and SDSOS programming.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Adaptive control design for underactuated systems using sums-of-squares optimization.
Proceedings of the American Control Conference, 2014

2013
Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures.
CoRR, 2013

Control design along trajectories with sums of squares programming.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

L2-gain optimization for robust bipedal walking on unknown terrain.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares.
Proceedings of the 16th international conference on Hybrid systems: computation and control, 2013

A numerical algebraic geometry approach to regional stability analysis of polynomial systems.
Proceedings of the American Control Conference, 2013

Complexity of ten decision problems in continuous time dynamical systems.
Proceedings of the American Control Conference, 2013

2012
Finite-time regional verification of stochastic non-linear systems.
Int. J. Robotics Res., 2012

Erratum: Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact.
Proceedings of the Algorithmic Foundations of Robotics X, 2012

Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact.
Proceedings of the Algorithmic Foundations of Robotics X, 2012

Robust Online Motion Planning with Regions of Finite Time Invariance.
Proceedings of the Algorithmic Foundations of Robotics X, 2012

Non-Gaussian belief space planning: Correctness and complexity.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Region of attraction estimation for a perching aircraft: A Lyapunov method exploiting barrier certificates.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Control synthesis and verification for a perching UAV using LQR-Trees.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Optimizing robust limit cycles for legged locomotion on unknown terrain.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Algebraic verification for parameterized motion planning libraries.
Proceedings of the American Control Conference, 2012

Design, analysis, and learning control of a fully actuated micro wind turbine.
Proceedings of the American Control Conference, 2012

2011
Bounding on rough terrain with the LittleDog robot.
Int. J. Robotics Res., 2011

Stable dynamic walking over uneven terrain.
Int. J. Robotics Res., 2011

Sample-Based Planning with Volumes in Configuration Space
CoRR, 2011

Special issue on selected papers from Robotics: Science and Systems 2009.
Auton. Robots, 2011

Finite-Time Regional Verification of Stochastic Nonlinear Systems.
Proceedings of the Robotics: Science and Systems VII, 2011

Efficient Planning in Non-Gaussian Belief Spaces and Its Application to Robot Grasping.
Proceedings of the Robotics Research, 2011

Magnetic localization for perching UAVs on powerlines.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Feedback controller parameterizations for Reinforcement Learning.
Proceedings of the 2011 IEEE Symposium on Adaptive Dynamic Programming And Reinforcement Learning, 2011

2010
Motor Learning at Intermediate Reynolds Number: Experiments with Policy Gradient on the Flapping Flight of a Rigid Wing.
Proceedings of the From Motor Learning to Interaction Learning in Robots, 2010

Robot Learning.
Proceedings of the Encyclopedia of Machine Learning, 2010

LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification.
Int. J. Robotics Res., 2010

Regions of Attraction for Hybrid Limit Cycles of Walking Robots
CoRR, 2010

Minimalistic control of biped walking in rough terrain.
Auton. Robots, 2010

Belief space planning assuming maximum likelihood observations.
Proceedings of the Robotics: Science and Systems VI, 2010

Simulation-based LQR-trees with input and state constraints.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

A quadratic regulator-based heuristic for rapidly exploring state space.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Convex optimization in identification of stable non-linear state space models.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

2009
Robot learning [TC Spotlight].
IEEE Robotics Autom. Mag., 2009

Metastable Walking Machines.
Int. J. Robotics Res., 2009

LQR-trees: Feedback motion planning on sparse randomized trees.
Proceedings of the Robotics: Science and Systems V, University of Washington, Seattle, USA, June 28, 2009

Stable Dynamic Walking over Rough Terrain - Theory and Experiment.
Proceedings of the Robotics Research - The 14th International Symposium, 2009

Reachability-guided sampling for planning under differential constraints.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Path planning in 1000+ dimensions using a task-space Voronoi bias.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Minimalistic control of a compass gait robot in rough terrain.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Dynamically diverse legged locomotion for rough terrain.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

On the controllability of fixed-wing perching.
Proceedings of the American Control Conference, 2009

2008
Metastable Walking on Stochastically Rough Terrain.
Proceedings of the Robotics: Science and Systems IV, 2008

Signal-to-Noise Ratio Analysis of Policy Gradient Algorithms.
Proceedings of the Advances in Neural Information Processing Systems 21, 2008

Reliable Dynamic Motions for a Stiff Quadruped.
Proceedings of the Experimental Robotics, The Eleventh International Symposium, 2008

High-dimensional underactuated motion planning via task space control.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Approximate optimal control of the compass gait on rough terrain.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

2007
Motor control optimization of compliant one-legged locomotion in rough terrain.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Collision detection in legged locomotion using supervised learning.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Inverse Kinematics for a Point-Foot Quadruped Robot with Dynamic Redundancy Resolution.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

2004
Applied optimal control for dynamically stable legged locomotion.
PhD thesis, 2004

Stochastic policy gradient reinforcement learning on a simple 3D biped.
Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28, 2004

Actuating a Simple 3D Passive Dynamic Walker.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

1999
Intelligent Agents in Computer Games.
Proceedings of the Sixteenth National Conference on Artificial Intelligence and Eleventh Conference on Innovative Applications of Artificial Intelligence, 1999


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