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Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models


Jun 22, 2022
Tao Pang, H. J. Terry Suh, Lujie Yang, Russ Tedrake

* The first two authors contributed equally to this work 

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Motion Planning around Obstacles with Convex Optimization


May 09, 2022
Tobia Marcucci, Mark Petersen, David von Wrangel, Russ Tedrake


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Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators


May 07, 2022
Alexandre Amice, Hongkai Dai, Peter Werner, Annan Zhang, Russ Tedrake

* To be published in The Workshop on the Algorithmic Foundations of Robotics 2022. 14 pages, 7 figures 

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Learning Multi-Object Dynamics with Compositional Neural Radiance Fields


Mar 04, 2022
Danny Driess, Zhiao Huang, Yunzhu Li, Russ Tedrake, Marc Toussaint

* diagrams added 

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Elliptical Slice Sampling for Probabilistic Verification of Stochastic Systems with Signal Temporal Logic Specifications


Feb 28, 2022
Guy Scher, Sadra Sadraddini, Russ Tedrake, Hadas Kress-Gazit

* Submitted to HSCC 2022 

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Globally Convergent Policy Search over Dynamic Filters for Output Estimation


Feb 25, 2022
Jack Umenberger, Max Simchowitz, Juan C. Perdomo, Kaiqing Zhang, Russ Tedrake


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Do Differentiable Simulators Give Better Policy Gradients?


Feb 02, 2022
H. J. Terry Suh, Max Simchowitz, Kaiqing Zhang, Russ Tedrake


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SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use


Nov 02, 2021
H. J. Terry Suh, Naveen Kuppuswamy, Tao Pang, Paul Mitiguy, Alex Alspach, Russ Tedrake

* Submitted to Robosoft 2022 

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Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning


Oct 02, 2021
Danny Driess, Jung-Su Ha, Marc Toussaint, Russ Tedrake


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