327 citations · 1.3k across the 66 of their papers we have counts for
11 papers · 1 filter
FilterReg: Robust and Efficient Probabilistic Point-Set Registration using Gaussian Filter and Twist Parameterization
Wei Gao, Russ Tedrake
Probabilistic point-set registration methods have been gaining more attention for their robustness to noise, outliers and occlusions. However, these methods tend to be much slower…
Scalable End-to-End Autonomous Vehicle Testing via Rare-event Simulation
Matthew O'Kelly, Aman Sinha, Hongseok Namkoong +2
While recent developments in autonomous vehicle (AV) technology highlight substantial progress, we lack tools for rigorous and scalable testing. Real-world testing, the $\textit{de…
Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids
Yunzhu Li, Jiajun Wu, Russ Tedrake +2
Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigi…
Sampling-based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems
Sadra Sadraddini, Russ Tedrake
Piecewise affine (PWA) systems are widely used to model highly nonlinear behaviors such as contact dynamics in robot locomotion and manipulation. Existing control techniques for PW…
LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers
Robin Deits, Twan Koolen, Russ Tedrake
Guided policy search is a popular approach for training controllers for high-dimensional systems, but it has a number of pitfalls. Non-convex trajectory optimization has local mini…
Propagation Networks for Model-Based Control Under Partial Observation
Yunzhu Li, Jiajun Wu, Jun-Yan Zhu +3
There has been an increasing interest in learning dynamics simulators for model-based control. Compared with off-the-shelf physics engines, a learnable simulator can quickly adapt…
Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures
Weiqiao Han, Russ Tedrake
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of…
Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation
Peter R. Florence, Lucas Manuelli, Russ Tedrake
What is the right object representation for manipulation? We would like robots to visually perceive scenes and learn an understanding of the objects in them that (i) is task-agnost…
Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures
Weiqiao Han, Russ Tedrake
In this paper, we design nonlinear state feedback controllers for discrete-time polynomial dynamical systems via the occupation measure approach. We propose the discrete-time contr…
Semidefinite Outer Approximation of the Backward Reachable Set of Discrete-time Autonomous Polynomial Systems
Weiqiao Han, Russ Tedrake
We approximate the backward reachable set of discrete-time autonomous polynomial systems using the recently developed occupation measure approach. We formulate the problem as an in…
NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search over Local 3D Data
Peter R. Florence, John Carter, Jake Ware +1
We would like robots to be able to safely navigate at high speed, efficiently use local 3D information, and robustly plan motions that consider pose uncertainty of measurements in…