Suboptimal Controller Synthesis for Cart-Poles and Quadrotors via Sum-of-Squares
Lujie Yang, Hongkai Dai, Alexandre Amice and Russ Tedrake
Robotics and Automation Letter (RA-L), 2023
[pdf][quadrotor video] [cartpole video]
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer
Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel and Anirudha Majumdar
Conference on Robot Learning (CoRL), 2023
[pdf]
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints
Hongkai Dai and Frank Permenter
American Control Conference (ACC), 2023
[pdf]
Finding and optimizing certified, collision-free regions in configuration space for robot manipulators
Alexandre Amice*, Hongkai Dai*, Peter Werner, Annan Zhang, and Russ Tedrake
* denotes equal contribution
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2022
Best Paper Award
[pdf]
SEAGul: Sample Efficient Adversarially Guided Learning of Value Functions
Benoit Landry, Hongkai Dai and Marco Pavone
Learning for Dynamics and Control (L4DC) (Oral), 2021
[pdf]
A Convex-Combinatorial Model for Planar Caging
Bernarodo Aceituno-Cabezas, Hongkai Dai and Alberto Rodriguez
IEEE/RSJ International Conference on Intelligent Roots and Systems (IROS), 2019
[pdf]
Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots
Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell and Claudio Semini
IEEE Robotics and Automation Letter, 2018
[pdf]
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
Bernardo Aceituno-Cabezas, Carlo Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G.Caldwell, Jose Cappelletto, Juan C. Grieco, Gerardo Fernandez-Lopez, and Claudio Semini
IEEE Robotics and Automation Letter, 2018
[pdf]
Globally Optimal Object Pose Estimation in Point Clouds with Mixed-Integer Programming
Gregory Izatt, Hongkai Dai and Russ Tedrake
International Symposium on Robotics Research, 2017 [pdf]
A Mixed-Integer Convex Optimization Framework for Robust Multilegged Robot Locomotion Planning over Challenging Terrain
Bernardo Aceituno Cabezas, Hongkai Dai , Jose Cappelletto, Juan C. Grieco, Gerardo Fernandez
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017 [pdf]
Optimization-based Locomotion Planning, Estimation, and Control Design for the Atlas Humanoid Robot
Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai , Frank Permenter, Twan Koolen, Pat Marion and Russ Tedrake
Autonomous Robots, 2016 IEEE-RAS Whole Body Control 2016 Best Paper Award[pdf]
Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming
Hongkai Dai , Anirudha Majumdar and Russ Tedrake
International Symposium of Robotics Research, 2015 [pdf]
Generalizing over Uncertain Dynamics for Online Trajectory Generation
Beomjoon Kim, Albert Kim, Hongkai Dai , Leslie Kaelbling and Tomas Lozano-Perez
International Symposium of Robotics Research, 2015 [pdf]
An Architecture for Online Affordance-based Perception and Whole-body Planning
Maurice Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider, Hongkai Dai, Claudia Pérez D'Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion, Michael Posa, Andrés Valenzuela, Kuan‐Ting Yu, Julie Shah, Karl Iagnemma, Russ Tedrake, Seth Teller
Journal of Field Robotics, 2015 [pdf]
L2-gain optimization for robust bipedal walking on unknown terrain
Hongkai Dai and Russ Tedrake
IEEE International Conference on Robotics and Automation (ICRA), 2013 [pdf]
Optimizing Robust Limit Cycles for Legged Locomotion on Unknown Terrain
Hongkai Dai and Russ Tedrake
IEEE Conference on Decision and Control (CDC), 2012 [pdf]