REx Lab: Home

Research

Differentiable Collision-Free Parametric Corridors

A differentiable collision-free corridor generator.

Pixels to Torques with Linear Feedback

Data-driven, linear output-feedback policies can effectively control a robotic system using vision.

Convex Trajectory optimization for the Soft-Capture Problem

A safe and real-time trajectory optimization algorithm for agile spacecraft maneuvers.

Model-Predictive Control on Resource-Constrained Microcontrollers

A high-speed MPC solver with a low memory footprint that works on microcontrollers common on small robots.

High-Expansion-Ratio Deployable Structures for Long Duration Space Missions

A hierarchical mechanism capable of 50x expansion ratios enabling kilometer scale structures from a single launch.

Motion Reconstruction and Imitation from Monocular Videos

An end-to-end motion transfer framework from monocular videos to legged robots.

State Estimation For Legged Robots

Several different state estimation methods for legged robots.

Differentiable Fluid-Structure Interaction for Robotics

A fully differentiable solver for simulating coupled fluid-robot dynamics

Enhanced Balance for Legged Robots Using Reaction Wheels

Novel hardware design to enhance quadruped robots

Data-Efficient Model Learning for Control

Building new algorithms for learning dynamics models that are sample efficient and generalizable.

Differentiable Collision Detection

Smooth and differentiable collision detection between pairs of convex primitives, enabled by differentiable convex optimization.

CALIPSO - A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints

Trajectory optimization with conic and complementarity constraints–plus differentiable!

Dojo - A Differentiable Simulator for Robotics

Differentiable rigid-body-dynamics with contact simulator for robotic systems.

Trajectory Optimization with Optimization-Based Dynamics

Bi-level trajectory optimization with dynamics represented as constrained optimization problems.

Fast Contact-Implicit Model-Predictive Control

Fast model-predictive control for systems that make and break contact with objects and the environment.

Direct Policy Optimization

Directly optimizing robust policies for feedback motion planning.

Motion Planning for Soft Robots

Real-time simulation and trajectory optimization for soft robots.

Dynamic Games Solver

Developing a fast and robust solver for constrained dynamic games aimed at identifying Nash equilibrium strategies.

Trajectory Optimization in the Circular Restricted Three-Body Problem (CR3BP)

The CR3BP is a useful model for designing and analyzing spacecraft trajectories that pass between multiple large bodies. We use optimization techniques to find trajectories that meet mission constraints while being dynamically feasible in the CR3BP.

Intelligent Radiation Protection of Commercial Components in Space

Extending lifetimes of commercial microelectronic devices in harsh radiation environments without additional shielding or device alterations.

Fast Trajectory Optimization

Building new solvers for trajectory optimization problems that are fast, accurate, and numerically robust.

Design and Control of Agile Quadrupeds

Designing a new, lost-cost quadrupeds with state-of-the-art control.

Low-Thrust Trajectory Optimization

Optimizing long duration spacecraft maneuvers for electric propulsion.

Underactuated Attitude Control of Small Satellites

Developing algorithms and hardware for underactuated control of small satellites, mainly through trajectory optimization techniques of magnetorquer attitude manipulation.

Distributed Trajectory Optimization

Scalable Cooperative Transport of Cable-Suspended Loads with UAVs using Distributed Trajectory Optimization

Fast Solution of Optimal Control Problems With L1 Cost

Developing a fast, low memory footprint algorithm to solve minimum-fuel problems with possible implementation onboard a CubeSat for embedded trajectory optimization.