43 citations · 151 across the 35 of their papers we have counts for
9 papers · 1 filter
Warm Start of Mixed-Integer Programs for Model Predictive Control of Hybrid Systems
Tobia Marcucci, Russ Tedrake
In hybrid Model Predictive Control (MPC), a Mixed-Integer Quadratic Program (MIQP) is solved at each sampling time to compute the optimal control action. Although these optimizatio…
kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion
Wei Gao, Russ Tedrake
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to e…
Self-Supervised Correspondence in Visuomotor Policy Learning
Peter Florence, Lucas Manuelli, Russ Tedrake
In this paper we explore using self-supervised correspondence for improving the generalization performance and sample efficiency of visuomotor policy learning. Prior work has prima…
Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations
Weiqiao Han, Russ Tedrake
We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initi…
Connecting Touch and Vision via Cross-Modal Prediction
Yunzhu Li, Jun-Yan Zhu, Russ Tedrake +1
Humans perceive the world using multi-modal sensory inputs such as vision, audition, and touch. In this work, we investigate the cross-modal connection between vision and touch. Th…
SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction
Wei Gao, Russ Tedrake
We contribute a dense SLAM system that takes a live stream of depth images as input and reconstructs non-rigid deforming scenes in real time, without templates or prior models. In…