Hongkai Dai

ORCID

Publication Activity (10 Years)

Years Active: 2012-2024
Publications (10 Years): 32

Top Venues

CoRR

IEEE Robotics Autom. Lett.

CDC

J. Field Robotics

Massachusetts Institute of Technology, Cambridge, USA (PHD)

Education History

Massachusetts Institute of Technology, Cambridge, USA

PHD

Publications

Hongkai Dai, Chuanrui Jiang, Hongchao Zhang, Andrew Clark
Verification and Synthesis of Compatible Control Lyapunov and Control Barrier Functions. CoRR (2024)
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 (2024)
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)
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)
Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer. CoRL (2023)
Hongkai Dai, Frank Permenter
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints. ACC (2023)
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) (2023)
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 (2023)
Lujie Yang, Hongkai Dai, Alexandre Amice, Russ Tedrake
Suboptimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares. CoRR (2023)
Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer. CoRR (2023)
Hongkai Dai, Alexandre Amice, Peter Werner, Annan Zhang, Russ Tedrake
Certified Polyhedral Decompositions of Collision-Free Configuration Space. CoRR (2023)
Hongkai Dai, Frank Permenter
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints. CoRR (2022)
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)
Alexandre Amice, Hongkai Dai, Peter Werner, Annan Zhang, Russ Tedrake
Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators. CoRR (2022)
Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake
Lyapunov-stable neural-network control. CoRR (2021)
Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake
Lyapunov-stable neural-network control. Robotics: Science and Systems (2021)
Benoit Landry, Hongkai Dai, Marco Pavone
SEAGuL: Sample Efficient Adversarially Guided Learning of Value Functions. L4DC (2021)
Hongkai Dai, Benoit Landry, Marco Pavone, Russ Tedrake
Counter-example guided synthesis of neural network Lyapunov functions for piecewise linear systems. CDC (2020)
Bernardo Aceituno-Cabezas, Hongkai Dai, Alberto Rodriguez
A Convex-Combinatorial Model for Planar Caging. IROS (2019)
Hongkai Dai, Gregory Izatt, Russ Tedrake
Global inverse kinematics via mixed-integer convex optimization. Int. J. Robotics Res. 38 (12-13) (2019)
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 (2019)
Bernardo Aceituno-Cabezas, Hongkai Dai, Alberto Rodriguez
A Convex-Combinatorial Model for Planar Caging. CoRR (2018)
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) (2018)
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) (2018)
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)
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 (2017)
Gregory Izatt, Hongkai Dai, Russ Tedrake
Globally Optimal Object Pose Estimation in Point Clouds with Mixed-Integer Programming. ISRR (2017)
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) (2017)
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 (2017)
Hongkai Dai, Gregory Izatt, Russ Tedrake
Global Inverse Kinematics via Mixed-Integer Convex Optimization. ISRR (2017)
Hongkai Dai, Russ Tedrake
Planning robust walking motion on uneven terrain via convex optimization. Humanoids (2016)
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) (2016)
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) (2015)
Hongkai Dai, Anirudha Majumdar, Russ Tedrake
Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming. ISRR (1) (2015)
Beomjoon Kim, Albert Kim, Hongkai Dai, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Generalizing Over Uncertain Dynamics for Online Trajectory Generation. ISRR (2) (2015)
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)
Hongkai Dai, Andres Valenzuela, Russ Tedrake
Whole-body motion planning with centroidal dynamics and full kinematics. Humanoids (2014)
Hongkai Dai, Russ Tedrake
L2-gain optimization for robust bipedal walking on unknown terrain. ICRA (2013)
Hongkai Dai, Russ Tedrake
Optimizing robust limit cycles for legged locomotion on unknown terrain. CDC (2012)

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Publication Activity (10 Years)

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Hongkai Dai