Russ Tedrake
Massachusetts Institute of Technology
収録論文 84本 ・ フィジカルAI/ロボット学習
模倣学習
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- ロボティクスにおけるオープンループ実行の再考：リアクティブで高性能なポリシーへ模倣学習2026/8/16
模倣学習で使われるオープンループ実行の利点を再検証し、長いコンテキストを持つポリシーではクローズドループの方が優れることを示した。
- Training and Evaluating Diffusion Policies with Long Context Lengths2026/6/1
- Semidefinite Relaxations for Collision-Free Motion Planning2026/6/1
- Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics2026/6/1
- A Framework for Combining Optimization-Based and Analytic Inverse Kinematics2026/2/1
- SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes2026/2/1
- Large Video Planner Enables Generalizable Robot Control2025/12/1
- How Well do Diffusion Policies Learn Kinematic Constraint Manifolds?2025/10/1
- A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation2025/7/1
- Mixed Discrete and Continuous Planning using Shortest Walks in Graphs of Convex Sets2025/7/1
- Dexterous Contact-Rich Manipulation via the Contact Trust Region2025/5/1
- Steerable Scene Generation with Post Training and Inference-Time Search2025/5/1
- Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning2025/4/1
- A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling2025/4/1
- Empirical Analysis of Sim-and-Real Cotraining of Diffusion Policies for Planar Pushing from Pixels2025/3/1
- Scalable Real2Sim: Physics-Aware Asset Generation Via Robotic Pick-and-Place Setups2025/3/1
- Sampling-Based Motion Planning with Discrete Configuration-Space Symmetries2025/3/1
- Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization2025/2/1
- Planning Shorter Paths in Graphs of Convex Sets by Undistorting Parametrized Configuration Spaces2024/11/1
- Faster Algorithms for Growing Collision-Free Convex Polytopes in Robot Configuration Space2024/10/1
- Multi-Query Shortest-Path Problem in Graphs of Convex Sets2024/9/1
- Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion2024/7/1
- GCS*: Forward Heuristic Search on Implicit Graphs of Convex Sets2024/7/1
- OpenVLA: An Open-Source Vision-Language-Action Model2024/6/1
- Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation2024/4/1
- Towards Tight Convex Relaxations for Contact-Rich Manipulation2024/2/1
- Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots2024/2/1
- PoCo: Policy Composition from and for Heterogeneous Robot Learning2024/2/1
- Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs2023/10/1
- Robot Fleet Learning via Policy Merging2023/10/1
- Certifying Bimanual RRT Motion Plans in a Second2023/10/1
- Constrained Bimanual Planning with Analytic Inverse Kinematics2023/9/1
- Proximity and Visuotactile Point Cloud Fusion for Contact Patches in Extreme Deformation2023/7/1
- Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching2023/6/1
- Fast Path Planning Through Large Collections of Safe Boxes2023/5/1
- Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets2023/5/1
- Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares2023/4/1
- Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization2023/4/1
- Growing Convex Collision-Free Regions in Configuration Space using Nonlinear Programming2023/3/1
- Diffusion Policy: Visuomotor Policy Learning via Action Diffusion2023/3/1
- Certified Polyhedral Decompositions of Collision-Free Configuration Space2023/2/1
- Does Learning from Decentralized Non-IID Unlabeled Data Benefit from Self Supervision?2022/10/1
- Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models2022/6/1
- Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators2022/5/1
- Motion Planning around Obstacles with Convex Optimization2022/5/1
- Elliptical Slice Sampling for Probabilistic Verification of Stochastic Systems with Signal Temporal Logic Specifications2022/3/1
- Learning Multi-Object Dynamics with Compositional Neural Radiance Fields2022/2/1
- Do Differentiable Simulators Give Better Policy Gradients?2022/2/1
- SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use2021/11/1
- Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning2021/10/1
- Bundled Gradients through Contact via Randomized Smoothing2021/9/1
- Lyapunov-stable neural-network control2021/9/1
- Easing Reliance on Collision-free Planning with Contact-aware Control2021/9/1
- Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control2021/3/1
- kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation2021/2/1
- Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning2020/9/1
- Soft-Bubble grippers for robust and perceptive manipulation2020/4/1
- FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis2020/3/1
- The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation2020/2/1
- Self-Supervised Correspondence in Visuomotor Policy Learning2019/9/1
- Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations2019/9/1
- kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion2019/9/1
- Connecting Touch and Vision via Cross-Modal Prediction2019/6/1
- Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation2019/4/1
- kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation2019/3/1
- Scalable End-to-End Autonomous Vehicle Testing via Rare-event Simulation2018/11/1
- Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids2018/10/1
- Propagation Networks for Model-Based Control Under Partial Observation2018/9/1
- Sampling-based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems2018/9/1
- Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures2018/9/1
- LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers2018/9/1
- Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation2018/6/1
- Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures2018/3/1
- Semidefinite Outer Approximation of the Backward Reachable Set of Discrete-time Autonomous Polynomial Systems2018/3/1
- NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search over Local 3D Data2018/2/1
- LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes2017/7/1
- Functional Co-Optimization of Articulated Robots2017/7/1
- Funnel Libraries for Real-Time Robust Feedback Motion Planning2016/1/1
- Pushbroom Stereo for High-Speed Navigation in Cluttered Environments2014/7/1
- An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion2013/11/1
- Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures2013/5/1
- Control Design along Trajectories with Sums of Squares Programming2012/10/1
- Sample-Based Planning with Volumes in Configuration Space2011/9/1
- Regions of Attraction for Hybrid Limit Cycles of Walking Robots2010/10/1