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ORCIDHongkai Dai
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2020 – today
- 2024
[j8]Hongkai Dai
, Alexandre Amice, Peter Werner, Annan Zhang, Russ Tedrake:
Certified polyhedral decompositions of collision-free configuration space. Int. J. Robotics Res. 43(9): 1322-1341 (2024)- [c21]Hongkai Dai, Chuanrui Jiang, Hongchao Zhang, Andrew Clark:
Verification and Synthesis of Compatible Control Lyapunov and Control Barrier Functions. CDC 2024: 8178-8185 - [c20]Lujie Yang, Hongkai Dai, Zhouxing Shi, Cho-Jui Hsieh, Russ Tedrake, Huan Zhang:
Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation. ICML 2024 - [i14]Lujie Yang, Hongkai Dai, Zhouxing Shi, Cho-Jui Hsieh, Russ Tedrake, Huan Zhang:
Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation for Efficient Synthesis and Verification. CoRR abs/2404.07956 (2024) - [i13]Hongkai Dai, Chuanrui Jiang, Hongchao Zhang, Andrew Clark:
Verification and Synthesis of Compatible Control Lyapunov and Control Barrier Functions. CoRR abs/2406.18914 (2024) - [i12]Allen Z. Ren, Justin Lidard, Lars Ankile, Anthony Simeonov, Pulkit Agrawal, Anirudha Majumdar, Benjamin Burchfiel, Hongkai Dai, Max Simchowitz:
Diffusion Policy Policy Optimization. CoRR abs/2409.00588 (2024) - 2023
- [j7]Lujie Yang, Hongkai Dai, Alexandre Amice, Russ Tedrake:
Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares. IEEE Robotics Autom. Lett. 8(11): 7376-7383 (2023) - [c19]Hongkai Dai, Frank Permenter:
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints. ACC 2023: 4116-4123 - [c18]Hongchao Zhang, Zhouchi Li, Hongkai Dai, Andrew Clark:
Efficient Sum of Squares-Based Verification and Construction of Control Barrier Functions by Sampling on Algebraic Varieties. CDC 2023: 5384-5391 - [c17]H. J. Terry Suh, Glen Chou, Hongkai Dai, Lujie Yang, Abhishek Gupta, Russ Tedrake:
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching. CoRL 2023: 2878-2904 - [c16]Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar:
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer. CoRL 2023: 3434-3452 - [i11]Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar:
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer. CoRR abs/2302.04903 (2023) - [i10]Hongkai Dai, Alexandre Amice, Peter Werner, Annan Zhang, Russ Tedrake:
Certified Polyhedral Decompositions of Collision-Free Configuration Space. CoRR abs/2302.12219 (2023) - [i9]Lujie Yang, Hongkai Dai, Alexandre Amice, Russ Tedrake:
Suboptimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares. CoRR abs/2304.12533 (2023) - [i8]H. J. Terry Suh, Glen Chou, Hongkai Dai, Lujie Yang, Abhishek Gupta, Russ Tedrake:
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching. CoRR abs/2306.14079 (2023) - 2022
- [c15]Alexandre Amice, Hongkai Dai, Peter Werner, Annan Zhang, Russ Tedrake:
Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators. WAFR 2022: 328-348 - [i7]Alexandre Amice, Hongkai Dai, Peter Werner, Annan Zhang, Russ Tedrake:
Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators. CoRR abs/2205.03690 (2022) - [i6]Hongkai Dai, Frank Permenter:
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints. CoRR abs/2210.00629 (2022) - 2021
- [c14]Benoit Landry, Hongkai Dai, Marco Pavone:
SEAGuL: Sample Efficient Adversarially Guided Learning of Value Functions. L4DC 2021: 1105-1117 - [c13]Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake:
Lyapunov-stable neural-network control. Robotics: Science and Systems 2021 - [i5]Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake:
Lyapunov-stable neural-network control. CoRR abs/2109.14152 (2021) - 2020
- [c12]Hongkai Dai, Benoit Landry, Marco Pavone, Russ Tedrake:
Counter-example guided synthesis of neural network Lyapunov functions for piecewise linear systems. CDC 2020: 1274-1281
2010 – 2019
- 2019
- [j6]Hongkai Dai, Gregory Izatt, Russ Tedrake:
Global inverse kinematics via mixed-integer convex optimization. Int. J. Robotics Res. 38(12-13) (2019) - [c11]Bernardo Aceituno-Cabezas, Hongkai Dai, Alberto Rodriguez:
A Convex-Combinatorial Model for Planar Caging. IROS 2019: 2378-2385 - [i4]Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini:
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization. CoRR abs/1904.04595 (2019) - 2018
- [j5]Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini:
Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization. IEEE Robotics Autom. Lett. 3(3): 2531-2538 (2018) - [j4]Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini:
Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots. IEEE Robotics Autom. Lett. 3(4): 3363-3370 (2018) - [i3]Bernardo Aceituno-Cabezas, Hongkai Dai, Alberto Rodriguez:
A Convex-Combinatorial Model for Planar Caging. CoRR abs/1809.06427 (2018) - 2017
- [j3]Pat Marion, Maurice F. Fallon, Robin Deits, Andres Valenzuela, Claudia Pérez-D'Arpino, Greg Izatt, Lucas Manuelli, Matthew E. Antone, Hongkai Dai, Twan Koolen, John Carter, Scott Kuindersma, Russ Tedrake:
Director: A User Interface Designed for Robot Operation with Shared Autonomy. J. Field Robotics 34(2): 262-280 (2017) - [c10]Bernardo Aceituno-Cabezas, Hongkai Dai, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López:
A mixed-integer convex optimization framework for robust multilegged robot locomotion planning over challenging terrain. IROS 2017: 4467-4472 - [c9]Gregory Izatt, Hongkai Dai, Russ Tedrake:
Globally Optimal Object Pose Estimation in Point Clouds with Mixed-Integer Programming. ISRR 2017: 695-710 - [c8]Hongkai Dai, Gregory Izatt, Russ Tedrake:
Global Inverse Kinematics via Mixed-Integer Convex Optimization. ISRR 2017: 809-826 - [i2]Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini:
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP). CoRR abs/1712.02731 (2017) - [i1]Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini:
A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes. CoRR abs/1712.06833 (2017) - 2016
- [b1]Hongkai Dai:
Robust multi-contact dynamical motion planning using contact wrench set. Massachusetts Institute of Technology, Cambridge, USA, 2016 - [j2]Scott Kuindersma, Robin Deits, Maurice F. Fallon, Andres Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, Russ Tedrake:
Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot. Auton. Robots 40(3): 429-455 (2016) - [c7]Hongkai Dai, Russ Tedrake:
Planning robust walking motion on uneven terrain via convex optimization. Humanoids 2016: 579-586 - 2015
- [j1]Maurice F. Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew E. Antone, Toby Schneider, Hongkai Dai, Claudia Pérez-D'Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion, Michael Posa, Andres Valenzuela, Kuan-Ting Yu, Julie A. Shah, Karl Iagnemma, Russ Tedrake, Seth J. Teller:
An Architecture for Online Affordance-based Perception and Whole-body Planning. J. Field Robotics 32(2): 229-254 (2015) - [c6]Beomjoon Kim, Albert Kim, Hongkai Dai, Leslie Pack Kaelbling, Tomás Lozano-Pérez:
Generalizing Over Uncertain Dynamics for Online Trajectory Generation. ISRR (2) 2015: 39-55 - [c5]Hongkai Dai, Anirudha Majumdar, Russ Tedrake:
Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming. ISRR (1) 2015: 285-305 - 2014
- [c4]Hongkai Dai, Andres Valenzuela, Russ Tedrake:
Whole-body motion planning with centroidal dynamics and full kinematics. Humanoids 2014: 295-302 - [c3]Russ Tedrake, Maurice F. Fallon, Sisir Karumanchi, Scott Kuindersma, Matthew E. Antone, Toby Schneider, Thomas M. Howard, Matthew R. Walter, Hongkai Dai, Robin Deits, Michael Fleder, Dehann Fourie, Riad I. Hammoud, Sachithra Hemachandra, P. Ilardi, Claudia Pérez-D'Arpino, Sudeep Pillai, Andres Valenzuela, Cecilia Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, Julie A. Shah, Karl Iagnemma, Seth J. Teller:
A summary of team MIT's approach to the virtual robotics challenge. ICRA 2014: 2087 - 2013
- [c2]Hongkai Dai, Russ Tedrake:
L2-gain optimization for robust bipedal walking on unknown terrain. ICRA 2013: 3116-3123 - 2012
- [c1]Hongkai Dai, Russ Tedrake:
Optimizing robust limit cycles for legged locomotion on unknown terrain. CDC 2012: 1207-1213
Coauthor Index
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