Hongkai Dai

According to our database, Hongkai Dai authored at least 35 papers between 2012 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2024

Certified polyhedral decompositions of collision-free configuration space.

Hongkai Dai, Alexandre Amice, Peter Werner, Annan Zhang, Russ Tedrake

Int. J. Robotics Res., 2024

Diffusion Policy Policy Optimization.

Allen Z. Ren, Justin Lidard, Lars Ankile, Anthony Simeonov, Pulkit Agrawal, Anirudha Majumdar, Benjamin Burchfiel, Hongkai Dai, Max Simchowitz

CoRR, 2024

Verification and Synthesis of Compatible Control Lyapunov and Control Barrier Functions.

Hongkai Dai, Chuanrui Jiang, Hongchao Zhang, Andrew Clark

CoRR, 2024

Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation for Efficient Synthesis and Verification.

Lujie Yang, Hongkai Dai, Zhouxing Shi, Cho-Jui Hsieh, Russ Tedrake, Huan Zhang

CoRR, 2024

Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation.

Lujie Yang, Hongkai Dai, Zhouxing Shi, Cho-Jui Hsieh, Russ Tedrake, Huan Zhang

Proceedings of the Forty-first International Conference on Machine Learning, 2024

2023

Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares.

Lujie Yang, Hongkai Dai, Alexandre Amice, Russ Tedrake

IEEE Robotics Autom. Lett., November, 2023

Suboptimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares.

Lujie Yang, Hongkai Dai, Alexandre Amice, Russ Tedrake

CoRR, 2023

Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching.

H. J. Terry Suh, Glen Chou, Hongkai Dai, Lujie Yang, Abhishek Gupta, Russ Tedrake

Proceedings of the Conference on Robot Learning, 2023

AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer.

Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar

Proceedings of the Conference on Robot Learning, 2023

Efficient Sum of Squares-Based Verification and Construction of Control Barrier Functions by Sampling on Algebraic Varieties.

Hongchao Zhang, Zhouchi Li, Hongkai Dai, Andrew Clark

Proceedings of the 62nd IEEE Conference on Decision and Control, 2023

Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints.

Hongkai Dai, Frank Permenter

Proceedings of the American Control Conference, 2023

2022

Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators.

Alexandre Amice, Hongkai Dai, Peter Werner, Annan Zhang, Russ Tedrake

Proceedings of the Algorithmic Foundations of Robotics XV, 2022

2021

Lyapunov-stable neural-network control.

Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake

Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021

SEAGuL: Sample Efficient Adversarially Guided Learning of Value Functions.

Benoit Landry, Hongkai Dai, Marco Pavone

Proceedings of the 3rd Annual Conference on Learning for Dynamics and Control, 2021

2020

Counter-example guided synthesis of neural network Lyapunov functions for piecewise linear systems.

Hongkai Dai, Benoit Landry, Marco Pavone, Russ Tedrake

Proceedings of the 59th IEEE Conference on Decision and Control, 2020

2019

Global inverse kinematics via mixed-integer convex optimization.

Hongkai Dai, Gregory Izatt, Russ Tedrake

Int. J. Robotics Res., 2019

Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization.

Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini

CoRR, 2019

A Convex-Combinatorial Model for Planar Caging.

Bernardo Aceituno-Cabezas, Hongkai Dai, Alberto Rodriguez

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

2018

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, Claudio Semini

IEEE Robotics Autom. Lett., 2018

Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization.

Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini

IEEE Robotics Autom. Lett., 2018

2017

Director: A User Interface Designed for Robot Operation with Shared Autonomy.

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

J. Field Robotics, 2017

A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes.

Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini

CoRR, 2017

The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP).

Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini

CoRR, 2017

Globally Optimal Object Pose Estimation in Point Clouds with Mixed-Integer Programming.

Gregory Izatt, Hongkai Dai, Russ Tedrake

Proceedings of the Robotics Research, The 18th International Symposium, 2017

A mixed-integer convex optimization framework for robust multilegged robot locomotion planning over challenging terrain.

Bernardo Aceituno-Cabezas, Hongkai Dai, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

2016

Robust multi-contact dynamical motion planning using contact wrench set.

Hongkai Dai

PhD thesis, 2016

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot.

Scott Kuindersma, Robin Deits, Maurice F. Fallon, Andres Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, Russ Tedrake

Auton. Robots, 2016

Planning robust walking motion on uneven terrain via convex optimization.

Hongkai Dai, Russ Tedrake

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

2015

An Architecture for Online Affordance-based Perception and Whole-body Planning.

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

J. Field Robotics, 2015

Generalizing Over Uncertain Dynamics for Online Trajectory Generation.

Beomjoon Kim, Albert Kim, Hongkai Dai, Leslie Pack Kaelbling, Tomás Lozano-Pérez

Proceedings of the Robotics Research, 2015

Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming.

Hongkai Dai, Anirudha Majumdar, Russ Tedrake

Proceedings of the Robotics Research, 2015

2014

A summary of team MIT's approach to the virtual robotics challenge.

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

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Whole-body motion planning with centroidal dynamics and full kinematics.

Hongkai Dai, Andres Valenzuela, Russ Tedrake

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

2013

L2-gain optimization for robust bipedal walking on unknown terrain.

Hongkai Dai, Russ Tedrake

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012

Optimizing robust limit cycles for legged locomotion on unknown terrain.

Hongkai Dai, Russ Tedrake

Proceedings of the 51th IEEE Conference on Decision and Control, 2012