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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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Lyapunov-stable neural-network control


Sep 29, 2021
Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake

* Published at Robotics: Science and Systems (RSS) in July, 2021 

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Easing Reliance on Collision-free Planning with Contact-aware Control


Sep 26, 2021
Tao Pang, Russ Tedrake

* Submitted to ICRA2022 

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Bundled Gradients through Contact via Randomized Smoothing


Sep 14, 2021
H. J. Terry Suh, Tao Pang, Russ Tedrake

* The first two authors contributed equally 

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Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control


Mar 15, 2021
Sihah Joonhigh, Naveen Kuppuswamy, Andrew Beaulieu, Alex Alspach, Russ Tedrake

* Research done at Toyota Research Institute. The first three authors contributed equally. Accepted to the 4th IEEE International Conference on Soft Robotics (RoboSoft 2021), IEEE copyright. The supplemental video is available publicly at https://youtu.be/1ywIaWuwTbI 

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kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation


Feb 11, 2021
Wei Gao, Russ Tedrake

* IEEE Robotics and Automation Letter. The video demo is on https://sites.google.com/view/kpam2/ 

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Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning


Sep 10, 2020
Lucas Manuelli, Yunzhu Li, Pete Florence, Russ Tedrake


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Neural Bridge Sampling for Evaluating Safety-Critical Autonomous Systems


Aug 24, 2020
Aman Sinha, Matthew O'Kelly, John Duchi, Russ Tedrake


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Soft-Bubble grippers for robust and perceptive manipulation


Apr 28, 2020
Naveen Kuppuswamy, Alex Alspach, Avinash Uttamchandani, Sam Creasey, Takuya Ikeda, Russ Tedrake

* 8 pages, conference 

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FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis


Mar 09, 2020
Aman Sinha, Matthew O'Kelly, Hongrui Zheng, Rahul Mangharam, John Duchi, Russ Tedrake


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The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation


Feb 21, 2020
H. J. Terry Suh, Russ Tedrake

* Submitted to Workshop on Algorithmic Foundations of Robotics (WAFR) 2020 

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Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations


Sep 17, 2019
Weiqiao Han, Russ Tedrake


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kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion


Sep 16, 2019
Wei Gao, Russ Tedrake

* In submission. The video demo and source code are available on https://sites.google.com/view/generalizable-manipulation/ 

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Self-Supervised Correspondence in Visuomotor Policy Learning


Sep 16, 2019
Peter Florence, Lucas Manuelli, Russ Tedrake

* Video at: https://sites.google.com/view/visuomotor-correspondence 

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Connecting Touch and Vision via Cross-Modal Prediction


Jun 14, 2019
Yunzhu Li, Jun-Yan Zhu, Russ Tedrake, Antonio Torralba

* Accepted to CVPR 2019. Project Page: http://visgel.csail.mit.edu/ 

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SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction


Apr 30, 2019
Wei Gao, Russ Tedrake

* RSS 2018. The video and source code are available on https://sites.google.com/view/surfelwarp/home 

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Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation


Apr 03, 2019
Alex Alspach, Kunimatsu Hashimoto, Naveen Kuppuswamy, Russ Tedrake

* Research done at Toyota Research Institute. Presented at RoboSoft, April 2019 

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kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation


Mar 15, 2019
Lucas Manuelli, Wei Gao, Peter Florence, Russ Tedrake

* First two authors contributed equally. The video and supplemental material is available on https://sites.google.com/view/kpam 

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Scalable End-to-End Autonomous Vehicle Testing via Rare-event Simulation


Jan 12, 2019
Matthew O'Kelly, Aman Sinha, Hongseok Namkoong, John Duchi, Russ Tedrake

* NeurIPS 2018 

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FilterReg: Robust and Efficient Probabilistic Point-Set Registration using Gaussian Filter and Twist Parameterization


Nov 26, 2018
Wei Gao, Russ Tedrake

* The video demo and source code are on https://sites.google.com/view/filterreg/home 

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Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids


Oct 03, 2018
Yunzhu Li, Jiajun Wu, Russ Tedrake, Joshua B. Tenenbaum, Antonio Torralba


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Propagation Networks for Model-Based Control Under Partial Observation


Sep 28, 2018
Yunzhu Li, Jiajun Wu, Jun-Yan Zhu, Joshua B. Tenenbaum, Antonio Torralba, Russ Tedrake


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Sampling-based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems


Sep 25, 2018
Sadra Sadraddini, Russ Tedrake

* Under Review 

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Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures


Sep 16, 2018
Weiqiao Han, Russ Tedrake

* arXiv admin note: text overlap with arXiv:1803.09022 

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LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers


Sep 16, 2018
Robin Deits, Twan Koolen, Russ Tedrake

* 7 pages, 8 figures. Submitted to the 2019 IEEE International Conference on Robotics and Automation (ICRA 2019) 

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Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation


Sep 07, 2018
Peter R. Florence, Lucas Manuelli, Russ Tedrake


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Semidefinite Outer Approximation of the Backward Reachable Set of Discrete-time Autonomous Polynomial Systems


Jul 26, 2018
Weiqiao Han, Russ Tedrake

* merged with the paper arXiv:1803.09022 

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