Intelligent Agents in Computer Games. - Michael van Lent; John E. Laird; Josh Buckman; Joe Hartford; Steve Houchard; Kurt Steinkraus; Russ Tedrake (AAAI/IAAI, 1999)

Actuating a Simple 3D Passive Dynamic Walker. - Russ Tedrake; Teresa Weirui Zhang; Ming-fai Fong; H. Sebastian Seung (ICRA, 2004)

Stochastic policy gradient reinforcement learning on a simple 3D biped. - Russ Tedrake; Teresa Weirui Zhang; H. Sebastian Seung (IROS, 2004)

Applied optimal control for dynamically stable legged locomotion. - Russell L. Tedrake (2004)

Inverse Kinematics for a Point-Foot Quadruped Robot with Dynamic Redundancy Resolution. - Alexander C. Shkolnik; Russ Tedrake (ICRA, 2007)

Collision detection in legged locomotion using supervised learning. - Finale Doshi; Emma Brunskill; Alexander C. Shkolnik; Thomas Kollar; Khashayar Rohanimanesh; Russ Tedrake; Nicholas Roy (IROS, 2007)

Motor control optimization of compliant one-legged locomotion in rough terrain. - Fumiya Iida; Russ Tedrake (IROS, 2007)

Approximate optimal control of the compass gait on rough terrain. - Katie Byl; Russ Tedrake (ICRA, 2008)

High-dimensional underactuated motion planning via task space control. - Alexander C. Shkolnik; Russ Tedrake (IROS, 2008)

Reliable Dynamic Motions for a Stiff Quadruped. - Katie Byl; Alexander C. Shkolnik; Sam Prentice; Nicholas Roy; Russ Tedrake (ISER, 2008)

Signal-to-Noise Ratio Analysis of Policy Gradient Algorithms. - John W. Roberts; Russ Tedrake (NIPS, 2008)

Metastable Walking on Stochastically Rough Terrain. - Katie Byl; Russ Tedrake (Robotics: Science and Systems, 2008)

On the controllability of fixed-wing perching. - John W. Roberts; Rick Cory; Russ Tedrake (ACC, 2009)

Dynamically diverse legged locomotion for rough terrain. - Katie Byl; Russ Tedrake (ICRA, 2009)

Minimalistic control of a compass gait robot in rough terrain. - Fumiya Iida; Russ Tedrake (ICRA, 2009)

Path planning in 1000+ dimensions using a task-space Voronoi bias. - Alexander C. Shkolnik; Russ Tedrake (ICRA, 2009)

Reachability-guided sampling for planning under differential constraints. - Alexander C. Shkolnik; Matthew R. Walter; Russ Tedrake (ICRA, 2009)

Stable Dynamic Walking over Rough Terrain - Theory and Experiment. - Ian R. Manchester; Uwe Mettin; Fumiya Iida; Russ Tedrake (ISRR, 2009)

LQR-trees: Feedback motion planning on sparse randomized trees. - Russ Tedrake (Robotics: Science and Systems, 2009)

Metastable Walking Machines. - Katie Byl; Russ Tedrake (Int. J. Robotics Res., 2009)

Robot learning [TC Spotlight]. - Jan Peters 001; Jun Morimoto; Russ Tedrake; Nicholas Roy (IEEE Robotics Autom. Mag., 2009)

Convex optimization in identification of stable non-linear state space models. - Mark M. Tobenkin; Ian R. Manchester; Jennifer Wang; Alexandre Megretski; Russ Tedrake (CDC, 2010)

A quadratic regulator-based heuristic for rapidly exploring state space. - Elena L. Glassman; Russ Tedrake (ICRA, 2010)

Simulation-based LQR-trees with input and state constraints. - Philipp Reist; Russ Tedrake (ICRA, 2010)

Belief space planning assuming maximum likelihood observations. - Robert Platt Jr. 001; Russ Tedrake; Leslie Pack Kaelbling; Tomás Lozano-Pérez (Robotics: Science and Systems, 2010)

Minimalistic control of biped walking in rough terrain. - Fumiya Iida; Russ Tedrake (Auton. Robots, 2010)

Regions of Attraction for Hybrid Limit Cycles of Walking Robots - Ian R. Manchester; Mark M. Tobenkin; Michael Levashov; Russ Tedrake (CoRR, 2010)

LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification. - Russ Tedrake; Ian R. Manchester; Mark M. Tobenkin; John W. Roberts (Int. J. Robotics Res., 2010)

Robot Learning. - Jan Peters 001; Russ Tedrake; Nicholas Roy; Jun Morimoto (Encyclopedia of Machine Learning, 2010)

Motor Learning at Intermediate Reynolds Number: Experiments with Policy Gradient on the Flapping Flight of a Rigid Wing. - John W. Roberts; Lionel Moret; Jun Zhang; Russ Tedrake (From Motor Learning to Interaction Learning in Robots, 2010)

Feedback controller parameterizations for Reinforcement Learning. - John W. Roberts; Ian R. Manchester; Russ Tedrake (ADPRL, 2011)

Magnetic localization for perching UAVs on powerlines. - Joseph L. Moore; Russ Tedrake (IROS, 2011)

Efficient Planning in Non-Gaussian Belief Spaces and Its Application to Robot Grasping. - Robert Platt Jr. 001; Leslie Pack Kaelbling; Tomás Lozano-Pérez; Russ Tedrake (ISRR, 2011)

Finite-Time Regional Verification of Stochastic Nonlinear Systems. - Jacob Steinhardt; Russ Tedrake (Robotics: Science and Systems, 2011)

Special issue on selected papers from Robotics: Science and Systems 2009. - Russ Tedrake; Yoky Matsuoka (Auton. Robots, 2011)

Sample-Based Planning with Volumes in Configuration Space - Alexander C. Shkolnik; Russ Tedrake (CoRR, 2011)

Stable dynamic walking over uneven terrain. - Ian R. Manchester; Uwe Mettin; Fumiya Iida; Russ Tedrake (Int. J. Robotics Res., 2011)

Bounding on rough terrain with the LittleDog robot. - Alexander C. Shkolnik; Michael Levashov; Ian R. Manchester; Russ Tedrake (Int. J. Robotics Res., 2011)

Design, analysis, and learning control of a fully actuated micro wind turbine. - J. Zico Kolter; Zachary Jackowski; Russ Tedrake (ACC, 2012)

Algebraic verification for parameterized motion planning libraries. - Anirudha Majumdar; Mark M. Tobenkin; Russ Tedrake (ACC, 2012)

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

Control synthesis and verification for a perching UAV using LQR-Trees. - Joseph L. Moore; Russ Tedrake (CDC, 2012)

Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates. - Andrew J. Barry; Anirudha Majumdar; Russ Tedrake (ICRA, 2012)

Region of attraction estimation for a perching aircraft: A Lyapunov method exploiting barrier certificates. - Elena L. Glassman; Alexis Lussier Desbiens; Mark M. Tobenkin; Mark R. Cutkosky; Russ Tedrake (ICRA, 2012)

Non-Gaussian belief space planning: Correctness and complexity. - Robert Platt Jr. 001; Leslie Pack Kaelbling; Tomás Lozano-Pérez; Russ Tedrake (ICRA, 2012)

Robust Online Motion Planning with Regions of Finite Time Invariance. - Anirudha Majumdar; Russ Tedrake (WAFR, 2012)

Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact. - Michael Posa; Russ Tedrake (WAFR, 2012)

Erratum: Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact. - Michael Posa; Russ Tedrake (WAFR, 2012)

Finite-time regional verification of stochastic non-linear systems. - Jacob Steinhardt; Russ Tedrake (Int. J. Robotics Res., 2012)

Complexity of ten decision problems in continuous time dynamical systems. - Amir Ali Ahmadi; Anirudha Majumdar; Russ Tedrake (ACC, 2013)

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

Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares. - Michael Posa; Mark M. Tobenkin; Russ Tedrake (HSCC, 2013)

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

Control design along trajectories with sums of squares programming. - Anirudha Majumdar; Amir Ali Ahmadi; Russ Tedrake (ICRA, 2013)

Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures. - Anirudha Majumdar; Ram Vasudevan; Mark M. Tobenkin; Russ Tedrake (CoRR, 2013)

Adaptive control design for underactuated systems using sums-of-squares optimization. - Joseph L. Moore; Russ Tedrake (ACC, 2014)

Control and verification of high-dimensional systems with DSOS and SDSOS programming. - Anirudha Majumdar; Amir Ali Ahmadi; Russ Tedrake (CDC, 2014)

Convex computation of the reachable set for controlled polynomial hybrid systems. - Victor Shia; Ram Vasudevan; Ruzena Bajcsy; Russ Tedrake (CDC, 2014)

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

Footstep planning on uneven terrain with mixed-integer convex optimization. - Robin Deits; Russ Tedrake (Humanoids, 2014)

Flying between obstacles with an autonomous knife-edge maneuver. - Andrew J. Barry; Tim Jenks; Anirudha Majumdar; Huai-Ti Lin; Ivo G. Ros; Andrew A. Biewener; Russ Tedrake (ICRA, 2014)

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

Computing Large Convex Regions of Obstacle-Free Space Through Semidefinite Programming. - Robin Deits; Russ Tedrake (WAFR, 2014)

Convex optimization of nonlinear feedback controllers via occupation measures. - Anirudha Majumdar; Ram Vasudevan; Mark M. Tobenkin; Russ Tedrake (Int. J. Robotics Res., 2014)

A direct method for trajectory optimization of rigid bodies through contact. - Michael Posa; Cecilia Cantu; Russ Tedrake (Int. J. Robotics Res., 2014)

Continuous humanoid locomotion over uneven terrain using stereo fusion. - Maurice F. Fallon; Pat Marion; Robin Deits; Thomas Whelan; Matthew E. Antone; John McDonald 001; Russ Tedrake (Humanoids, 2015)

A closed-form solution for real-time ZMP gait generation and feedback stabilization. - Russ Tedrake; Scott Kuindersma; Robin Deits; Kanako Miura (Humanoids, 2015)

Pushbroom stereo for high-speed navigation in cluttered environments. - Andrew J. Barry; Russ Tedrake (ICRA, 2015)

Efficient mixed-integer planning for UAVs in cluttered environments. - Robin Deits; Russ Tedrake (ICRA, 2015)

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

Identifiability Analysis of Planar Rigid-Body Frictional Contact. - Nima Fazeli; Russ Tedrake; Alberto Rodriguez 003 (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)

Balance control using center of mass height variation: Limitations imposed by unilateral contact. - Twan Koolen; Michael Posa; Russ Tedrake (Humanoids, 2016)

Aggressive quadrotor flight through cluttered environments using mixed integer programming. - Benoit Landry; Robin Deits; Peter R. Florence; Russ Tedrake (ICRA, 2016)

Optimization and stabilization of trajectories for constrained dynamical systems. - Michael Posa; Scott Kuindersma; Russ Tedrake (ICRA, 2016)

Localizing external contact using proprioceptive sensors: The Contact Particle Filter. - Lucas Manuelli; Russ Tedrake (IROS, 2016)

Integrated Perception and Control at High Speed: Evaluating Collision Avoidance Maneuvers Without Maps. - Peter R. Florence; John Carter; Russ Tedrake (WAFR, 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)

Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator. - Andrew D. Marchese; Russ Tedrake; Daniela Rus (Int. J. Robotics Res., 2016)

Feedback-motion-planning with simulation-based LQR-trees. - Philipp Reist; Pascal Preiswerk; Russ Tedrake (Int. J. Robotics Res., 2016)

Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction. - Michael Posa; Mark M. Tobenkin; Russ Tedrake (IEEE Trans. Autom. Control., 2016)

Modeling and Control of Legged Robots. - Pierre-Brice Wieber; Russ Tedrake; Scott Kuindersma (Springer Handbook of Robotics, 2nd Ed., 2016)

Feedback design for multi-contact push recovery via LMI approximation of the Piecewise-Affine Quadratic Regulator. - Weiqiao Han; Russ Tedrake (Humanoids, 2017)

Approximate hybrid model predictive control for multi-contact push recovery in complex environments. - Tobia Marcucci; Robin Deits; Marco Gabiccini; Antonio Bicchi; Russ Tedrake (Humanoids, 2017)

Convex and Combinatorial Optimization for Dynamic Robots in the Real World. - Russ Tedrake (HSCC, 2017)

Tracking objects with point clouds from vision and touch. - Gregory Izatt; Geronimo Mirano; Edward H. Adelson; Russ Tedrake (ICRA, 2017)

Functional co-optimization of articulated robots. - Andrew Spielberg; Brandon Araki; Cynthia R. Sung; Russ Tedrake; Daniela Rus (ICRA, 2017)

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

A parallel autonomy research platform. - Felix Naser; David L. Dorhout; Stephen Proulx; Scott Drew Pendleton; Hans Andersen; Wilko Schwarting; Liam Paull; Javier Alonso-Mora; Marcelo H. Ang; Sertac Karaman; Russ Tedrake; John J. Leonard; et al. (Intelligent Vehicles Symposium, 2017)

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload. - Philipp Foehn; Davide Falanga; Naveen Kuppuswamy; Russ Tedrake; Davide Scaramuzza 001 (Robotics: Science and Systems, 2017)

Balancing and Step Recovery Capturability via Sums-of-Squares Optimization. - Michael Posa; Twan Koolen; Russ Tedrake (Robotics: Science and Systems, 2017)

A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes. - Pat Marion; Peter R. Florence; Lucas Manuelli; Russ Tedrake (CoRR, 2017)

Verifying Neural Networks with Mixed Integer Programming. - Vincent Tjeng; Russ Tedrake (CoRR, 2017)

Parameter and contact force estimation of planar rigid-bodies undergoing frictional contact. - Nima Fazeli; Roman Kolbert; Russ Tedrake; Alberto Rodriguez 003 (Int. J. Robotics Res., 2017)

Funnel libraries for real-time robust feedback motion planning. - Anirudha Majumdar; Russ Tedrake (Int. J. Robotics Res., 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)

Whole-Body Control [TC Spotlight]. - Federico L. Moro; Luis Sentis; Jaeheung Park; Christopher G. Atkeson; Michael Gienger; Ambarish Goswami; Shuuji Kajita; Oussama Khatib; James Kuffner; David E. Orin; Christian Ott 001; Jerry E. Pratt; et al. (IEEE Robotics Autom. Mag., 2017)

Robot Learning. - Jan Peters 001; Russ Tedrake; Nick Roy; Jun Morimoto (Encyclopedia of Machine Learning and Data Mining, 2017)

Compositional Verification of Large-Scale Nonlinear Systems via Sums-of-Squares Optimization. - Shen Shen; Russ Tedrake (ACC, 2018)

Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation. - Peter R. Florence; Lucas Manuelli; Russ Tedrake (CoRL, 2018)

NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search Over Local 3D Data. - Peter R. Florence; John Carter; Jake Ware; Russ Tedrake (ICRA, 2018)

Label Fusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes. - Pat Marion; Peter R. Florence; Lucas Manuelli; Russ Tedrake (ICRA, 2018)

Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures. - Weiqiao Han; Russ Tedrake (IROS, 2018)

A Robust Time-Stepping Scheme for Quasistatic Rigid Multibody Systems. - Tao Pang; Russ Tedrake (IROS, 2018)

Scalable End-to-End Autonomous Vehicle Testing via Rare-event Simulation. - Matthew O'Kelly; Aman Sinha 001; Hongseok Namkoong; Russ Tedrake; John C. Duchi (NeurIPS, 2018)

SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction. - Wei Gao 026; Russ Tedrake (Robotics: Science and Systems, 2018)

Counterexample-Guided Safety Contracts for Autonomous Driving. - Jonathan A. DeCastro; Lucas Liebenwein; Cristian Ioan Vasile; Russ Tedrake; Sertac Karaman; Daniela Rus (WAFR, 2018)

Convex Optimization of Nonlinear State Feedback Controllers for Discrete-time Polynomial Systems via Occupation Measures. - Weiqiao Han; Russ Tedrake (CoRR, 2018)

High-speed autonomous obstacle avoidance with pushbroom stereo. - Andrew J. Barry; Peter R. Florence; Russ Tedrake (J. Field Robotics, 2018)

Linear Encodings for Polytope Containment Problems. - Sadra Sadraddini; Russ Tedrake (CDC, 2019)

FilterReg: Robust and Efficient Probabilistic Point-Set Registration Using Gaussian Filter and Twist Parameterization. - Wei Gao 026; Russ Tedrake (CVPR, 2019)

Connecting Touch and Vision via Cross-Modal Prediction. - Yunzhu Li; Jun-Yan Zhu; Russ Tedrake; Antonio Torralba 001 (CVPR, 2019)

Mixed-integer formulations for optimal control of piecewise-affine systems. - Tobia Marcucci; Russ Tedrake (HSCC, 2019)

Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids. - Yunzhu Li; Jiajun Wu 001; Russ Tedrake; Joshua B. Tenenbaum; Antonio Torralba 001 (ICLR (Poster), 2019)

Evaluating Robustness of Neural Networks with Mixed Integer Programming. - Vincent Tjeng; Kai Yuanqing Xiao; Russ Tedrake (ICLR (Poster), 2019)

LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers. - Robin Deits; Twan Koolen; Russ Tedrake (ICRA, 2019)

Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures. - Weiqiao Han; Russ Tedrake (ICRA, 2019)

Propagation Networks for Model-Based Control Under Partial Observation. - Yunzhu Li; Jiajun Wu 001; Jun-Yan Zhu; Joshua B. Tenenbaum; Antonio Torralba 001; Russ Tedrake (ICRA, 2019)

Sampling-Based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems. - Sadra Sadraddini; Russ Tedrake (ICRA, 2019)

A Supervised Approach to Predicting Noise in Depth Images. - Chris Sweeney; Greg Izatt; Russ Tedrake (ICRA, 2019)

KPAM: KeyPoint Affordances for Category-Level Robotic Manipulation. - Lucas Manuelli; Wei Gao 026; Peter R. Florence; Russ Tedrake (ISRR, 2019)

Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation. - Alex Alspach; Kunimatsu Hashimoto; Naveen Kuppuswamy; Russ Tedrake (RoboSoft, 2019)

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

The Nearest Polytope Problem: Algorithms and Application to Controlling Hybrid Systems. - Albert Wu; Sadra Sadraddini; Russ Tedrake (ACC, 2020)

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

Sampling Quotient-Ring Sum-of-Squares Programs for Scalable Verification of Nonlinear Systems. - Shen Shen; Russ Tedrake (CDC, 2020)

Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning. - Lucas Manuelli; Yunzhu Li; Peter R. Florence; Russ Tedrake (CoRL, 2020)

Robust output feedback control with guaranteed constraint satisfaction. - Sadra Sadraddini; Russ Tedrake (HSCC, 2020)

Trajectory Optimization for An Autonomous Vehicle Driving across Stochastic Traffic Flows based on Direct Collocation. - Yuwei Sun; Russ Tedrake; Hideya Ochiai (ICCAD, 2020)

FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis. - Aman Sinha 001; Matthew O'Kelly; Hongrui Zheng; Rahul Mangharam; John C. Duchi; Russ Tedrake (ICML, 2020)

Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations. - Weiqiao Han; Russ Tedrake (ICRA, 2020)

Generative Modeling of Environments with Scene Grammars and Variational Inference. - Gregory Izatt; Russ Tedrake (ICRA, 2020)

R3T: Rapidly-exploring Random Reachable Set Tree for Optimal Kinodynamic Planning of Nonlinear Hybrid Systems. - Albert Wu; Sadra Sadraddini; Russ Tedrake (ICRA, 2020)

Soft-bubble grippers for robust and perceptive manipulation. - Naveen Kuppuswamy; Alex Alspach; Avinash Uttamchandani; Sam Creasey; Takuya Ikeda; Russ Tedrake (IROS, 2020)

Neural Bridge Sampling for Evaluating Safety-Critical Autonomous Systems. - Aman Sinha 001; Matthew O'Kelly; Russ Tedrake; John C. Duchi (NeurIPS, 2020)

Self-Supervised Correspondence in Visuomotor Policy Learning. - Peter R. Florence; Lucas Manuelli; Russ Tedrake (IEEE Robotics Autom. Lett., 2020)

Fast Model-Based Contact Patch and Pose Estimation for Highly Deformable Dense-Geometry Tactile Sensors. - Naveen Kuppuswamy; Alejandro M. Castro; Calder Phillips-Grafflin; Alex Alspach; Russ Tedrake (IEEE Robotics Autom. Lett., 2020)

Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning. - Danny Driess; Jung-Su Ha; Marc Toussaint; Russ Tedrake (CoRL, 2021)

Learning Geometric Reasoning and Control for Long-Horizon Tasks from Visual Input. - Danny Driess; Jung-Su Ha; Russ Tedrake; Marc Toussaint (ICRA, 2021)

kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion. - Wei Gao 026; Russ Tedrake (ICRA, 2021)

A Convex Quasistatic Time-stepping Scheme for Rigid Multibody Systems with Contact and Friction. - Tao Pang; Russ Tedrake (ICRA, 2021)

Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations. - Tao Pang; Jack Umenberger; Russ Tedrake (ICRA, 2021)

Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control. - Sihah Joonhigh; Naveen Kuppuswamy; Andrew Beaulieu; Alex Alspach; Russ Tedrake (RoboSoft, 2021)

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

The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation. - H. J. Terry Suh; Russ Tedrake (WAFR, 2021)

kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation. - Wei Gao 026; Russ Tedrake (IEEE Robotics Autom. Lett., 2021)

Warm Start of Mixed-Integer Programs for Model Predictive Control of Hybrid Systems. - Tobia Marcucci; Russ Tedrake (IEEE Trans. Autom. Control., 2021)

Discrete Approximate Information States in Partially Observable Environments. - Lujie Yang; Kaiqing Zhang; Alexandre Amice; Yunzhu Li; Russ Tedrake (ACC, 2022)

Learning Multi-Object Dynamics with Compositional Neural Radiance Fields. - Danny Driess; Zhiao Huang; Yunzhu Li; Russ Tedrake; Marc Toussaint (CoRL, 2022)

Elliptical Slice Sampling for Probabilistic Verification of Stochastic Systems with Signal Temporal Logic Specifications. - Guy Scher; Sadra Sadraddini; Russ Tedrake; Hadas Kress-Gazit (HSCC, 2022)

Do Differentiable Simulators Give Better Policy Gradients? - Hyung Ju Terry Suh; Max Simchowitz; Kaiqing Zhang; Russ Tedrake (ICML, 2022)

Easing Reliance on Collision-free Planning with Contact-aware Control. - Tao Pang; Russ Tedrake (ICRA, 2022)

SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use. - H. J. Terry Suh; Naveen Kuppuswamy; Tao Pang; Paul Mitiguy; Alex Alspach; Russ Tedrake (IROS, 2022)

Globally Convergent Policy Search for Output Estimation. - Jack Umenberger; Max Simchowitz; Juan C. Perdomo; Kaiqing Zhang; Russ Tedrake (NeurIPS, 2022)

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)

Globally Convergent Policy Search over Dynamic Filters for Output Estimation. - Jack Umenberger; Max Simchowitz; Juan C. Perdomo; Kaiqing Zhang; Russ Tedrake (CoRR, 2022)

Does Decentralized Learning with Non-IID Unlabeled Data Benefit from Self Supervision? - Lirui Wang; Kaiqing Zhang; Yunzhu Li; Yonglong Tian; Russ Tedrake (CoRR, 2022)

Bundled Gradients Through Contact Via Randomized Smoothing. - Hyung Ju Terry Suh; Tao Pang; Russ Tedrake (IEEE Robotics Autom. Lett., 2022)

Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization. - Glen Chou; Russ Tedrake (CDC, 2023)

Toward Understanding State Representation Learning in MuZero: A Case Study in Linear Quadratic Gaussian Control. - Yi Tian; Kaiqing Zhang; Russ Tedrake; Suvrit Sra (CDC, 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)

Does Learning from Decentralized Non-IID Unlabeled Data Benefit from Self Supervision? - Lirui Wang; Kaiqing Zhang; Yunzhu Li; Yonglong Tian; Russ Tedrake (ICLR, 2023)

Can Direct Latent Model Learning Solve Linear Quadratic Gaussian Control? - Yi Tian; Kaiqing Zhang; Russ Tedrake; Suvrit Sra (L4DC, 2023)

Provable Guarantees for Generative Behavior Cloning: Bridging Low-Level Stability and High-Level Behavior. - Adam Block; Ali Jadbabaie; Daniel Pfrommer; Max Simchowitz; Russ Tedrake (NeurIPS, 2023)

Smoothed Online Learning for Prediction in Piecewise Affine Systems. - Adam Block; Max Simchowitz; Russ Tedrake (NeurIPS, 2023)

Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets. - Thomas Cohn; Mark Petersen; Max Simchowitz; Russ Tedrake (Robotics: Science and Systems, 2023)

Growing Convex Collision-Free Regions in Configuration Space using Nonlinear Programming. - Mark Petersen; Russ Tedrake (CoRR, 2023)

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

Proximity and Visuotactile Point Cloud Fusion for Contact Patches in Extreme Deformation. - Jessica Yin; Paarth Shah; Naveen Kuppuswamy; Andrew Beaulieu; Avinash Uttamchandani; Alejandro M. Castro; James H. Pikul; Russ Tedrake (CoRR, 2023)

Fleet Policy Learning via Weight Merging and An Application to Robotic Tool-Use. - Lirui Wang; Kaiqing Zhang; Allan Zhou; Max Simchowitz; 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)

Motion planning around obstacles with convex optimization. - Tobia Marcucci; Mark Petersen; David von Wrangel; Russ Tedrake (Sci. Robotics, 2023)

Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-Dynamic Contact Models. - Tao Pang; H. J. Terry Suh; Lujie Yang; Russ Tedrake (IEEE Trans. Robotics, 2023)

OpenVLA: An Open-Source Vision-Language-Action Model. - Moo Jin Kim; Karl Pertsch; Siddharth Karamcheti; Ted Xiao; Ashwin Balakrishna; Suraj Nair 003; Rafael Rafailov; Ethan Paul Foster; Pannag R. Sanketi; Quan Vuong; Thomas Kollar; Benjamin Burchfiel; et al. (CoRL, 2024)

Robot Fleet Learning via Policy Merging. - Lirui Wang; Kaiqing Zhang; Allan Zhou; Max Simchowitz; Russ Tedrake (ICLR, 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)

Certifying Bimanual RRT Motion Plans in a Second. - Alexandre Amice; Peter Werner; Russ Tedrake (ICRA, 2024)

Constrained Bimanual Planning with Analytic Inverse Kinematics. - Thomas Cohn; Seiji Shaw; Max Simchowitz; Russ Tedrake (ICRA, 2024)

Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs. - Peter Werner; Alexandre Amice; Tobia Marcucci; Daniela Rus; Russ Tedrake (ICRA, 2024)

Using Graphs of Convex Sets to Guide Nonconvex Trajectory Optimization. - David von Wrangel; Russ Tedrake (IROS, 2024)

Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion. - Boyuan Chen 003; Diego Marti Monso; Yilun Du; Max Simchowitz; Russ Tedrake; Vincent Sitzmann (NeurIPS, 2024)

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots. - Cheng Chi; Zhenjia Xu; Chuer Pan; Eric Cousineau; Benjamin Burchfiel; Siyuan Feng 003; Russ Tedrake; Shuran Song (Robotics: Science and Systems, 2024)

Towards Tight Convex Relaxations for Contact-Rich Manipulation. - Bernhard Paus Graesdal; Shao Yuan Chew Chia; Tobia Marcucci; Savva Morozov; Alexandre Amice; Pablo A. Parrilo; Russ Tedrake (Robotics: Science and Systems, 2024)

PoCo: Policy Composition from and for Heterogeneous Robot Learning. - Lirui Wang; Jialiang Zhao; Yilun Du; Edward H. Adelson; Russ Tedrake (Robotics: Science and Systems, 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)

OpenVLA: An Open-Source Vision-Language-Action Model. - Moo Jin Kim; Karl Pertsch; Siddharth Karamcheti; Ted Xiao; Ashwin Balakrishna; Suraj Nair 003; Rafael Rafailov; Ethan Paul Foster; Grace Lam; Pannag Sanketi; Quan Vuong; Thomas Kollar; et al. (CoRR, 2024)

GCS*: Forward Heuristic Search on Implicit Graphs of Convex Sets. - Shao Y. C. Chia; Rebecca H. Jiang; Bernhard P. Graesdal; Leslie Pack Kaelbling; Russ Tedrake (CoRR, 2024)

Multi-Query Shortest-Path Problem in Graphs of Convex Sets. - Savva Morozov; Tobia Marcucci; Alexandre Amice; Bernhard P. Graesdal; Rohan Bosworth; Pablo A. Parrilo; Russ Tedrake (CoRR, 2024)

Faster Algorithms for Growing Collision-Free Convex Polytopes in Robot Configuration Space. - Peter Werner; Thomas Cohn; Rebecca H. Jiang; Tim Seyde; Max Simchowitz; Russ Tedrake; Daniela Rus (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)

Fast Path Planning Through Large Collections of Safe Boxes. - Tobia Marcucci; Parth Nobel; Russ Tedrake; Stephen P. Boyd (IEEE Trans. Robotics, 2024)

Shortest Paths in Graphs of Convex Sets. - Tobia Marcucci; Jack Umenberger; Pablo A. Parrilo; Russ Tedrake (SIAM J. Optim., 2024)

Should VLMs be Pre-trained with Image Data? - Sedrick Keh; Jean Mercat; Samir Yitzhak Gadre; Kushal Arora; Igor Vasiljevic; Benjamin Burchfiel; Shuran Song; Russ Tedrake; Thomas Kollar; Ludwig Schmidt; Achal Dave (ICLR, 2025)

"Data will solve robotics and automation: True or false?": A debate. - Nancy M. Amato; Seth Hutchinson 001; Animesh Garg; Aude Billard; Daniela Rus; Russ Tedrake; Frank Park; Ken Goldberg (Sci. Robotics, 2025)

History-Guided Video Diffusion. - Kiwhan Song; Boyuan Chen 003; Max Simchowitz; Yilun Du; Russ Tedrake; Vincent Sitzmann (CoRR, 2025)

Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization. - Lujie Yang; H. J. Terry Suh; Tong Zhao; Bernhard Paus Graesdal; Tarik Kelestemur; Jiuguang Wang; Tao Pang; Russ Tedrake (CoRR, 2025)

Scalable Real2Sim: Physics-Aware Asset Generation Via Robotic Pick-and-Place Setups. - Nicholas Pfaff; Evelyn Fu; Jeremy Binagia; Phillip Isola; Russ Tedrake (CoRR, 2025)

Sampling-Based Motion Planning with Discrete Configuration-Space Symmetries. - Thomas Cohn; Russ Tedrake (CoRR, 2025)

Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels. - Adam Wei; Abhinav Agarwal; Boyuan Chen 003; Rohan Bosworth; Nicholas Pfaff; Russ Tedrake (CoRR, 2025)

Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning. - Peter Werner; Richard Cheng; Tom Stewart; Russ Tedrake; Daniela Rus (CoRR, 2025)

A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling. - Lujie Yang; Tobia Marcucci; Pablo A. Parrilo; Russ Tedrake (CoRR, 2025)

Dexterous Contact-Rich Manipulation via the Contact Trust Region. - H. J. Terry Suh; Tao Pang; Tong Zhao; Russ Tedrake (CoRR, 2025)

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

Planning Shorter Paths in Graphs of Convex Sets by Undistorting Parametrized Configuration Spaces. - Shruti Garg; Thomas Cohn; Russ Tedrake (IEEE Robotics Autom. Lett., 2025)

A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation. - TRI LBM Team; Jose A. 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)

Mixed Discrete and Continuous Planning using Shortest Walks in Graphs of Convex Sets. - Savva Morozov; Tobia Marcucci; Bernhard Paus Graesdal; Alexandre Amice; Pablo A. Parrilo; Russ Tedrake (CoRR, 2025)