diff --git a/CNAME b/CNAME index 6f1111d..38c5c77 100644 --- a/CNAME +++ b/CNAME @@ -1 +1 @@ -roboticexplorationlab.org \ No newline at end of file +rexlab.ri.cmu.edu diff --git a/README.md b/README.md index 8b6cc9b..04654a6 100755 --- a/README.md +++ b/README.md @@ -111,10 +111,10 @@ The requirements for building the site are: `make` compiles the bibliography and the website content to the `_site` directory. To preview the site, run `jekyll serve`` and head to -http://0.0.0.0:5000. +http://0.0.0.0:4000. -Deploying to Your Sever +Deploying to Your Server ----------------------- To set up deployments, edit the Makefile and look for the lines where `HOST` and `DIR` are defined. Change these to the host where your HTML files should be copied to. diff --git a/_config.yml b/_config.yml index f45a889..9ee2ac6 100755 --- a/_config.yml +++ b/_config.yml @@ -19,7 +19,7 @@ roles: - key: staff name: Staff - key: postdoc - name: Researchers + name: Postdocs - key: phd name: PhD Students - key: masters diff --git a/_data/people.yml b/_data/people.yml index 5c194de..050c878 100755 --- a/_data/people.yml +++ b/_data/people.yml @@ -4,7 +4,7 @@ zac: github: zacmanchester role: faculty image: /img/people/zac.jpg - bio: Assistant Professor + bio: Associate Professor taylor: display_name: "Taylor Howell" @@ -12,7 +12,7 @@ taylor: github: thowell role: alum image: /img/people/taylor.jpg - bio: Model-predictive control and differentiable simulators for contact + bio: Google DeepMind brian: display_name: "Brian Jackson" @@ -20,7 +20,7 @@ brian: github: bjack205 role: alum image: /img/people/brian.jpg - bio: Albedo Space + bio: Nvidia max: display_name: "Max Holliday" @@ -28,7 +28,7 @@ max: github: maholli role: alum image: /img/people/max.jpg - bio: NASA Ames + bio: CEO and Co-Founder at EarthTraq simon: display_name: "Simon Le Cleac'h" @@ -36,7 +36,7 @@ simon: github: simon-lc role: alum image: /img/people/simon.jpg - bio: Boston Dynamics AI Institute + bio: RAI Institute andrew: display_name: "Andrew Gatherer" @@ -52,14 +52,14 @@ jan: github: janbruedigam role: alum image: /img/people/jan.jpg - bio: PhD at TU Munich + bio: RAI Institute laura: display_name: "Laura Lee" webpage: "https://www.linkedin.com/in/lauraleeane/" role: alum image: /img/people/laura.jpg - bio: Boston Dynamics + bio: RAI Institute nathan: display_name: "Nathan Kau" @@ -102,9 +102,9 @@ kevin: display_name: "Kevin Tracy" webpage: "https://www.kevintracy.info" github: kevintracy7 - role: phd + role: alum image: /img/people/kevin.jpg - bio: Optimization and control + bio: Gridmatic swamig: display_name: "Swaminathan Gurumurthy" @@ -126,9 +126,9 @@ rianna: display_name: "Rianna Jitosho" webpage: "http://rjitosho.github.io/" github: rjitosho - role: phd + role: alum image: /img/people/rianna.jpeg - bio: Motion planning for soft robots + bio: Motion Planning for Soft Robots suvansh: display_name: "Suvansh Sanjeev" @@ -136,7 +136,7 @@ suvansh: github: suvansh role: alum image: /img/people/suvansh.jpg - bio: Brilliantly + bio: OpenAI bbokser: display_name: "Ben Bokser" @@ -144,24 +144,23 @@ bbokser: github: bbokser role: alum image: /img/people/bbokser.jpg - bio: Boston Dynamics AI Institute - + bio: RAI Institute shuo: display_name: "Shuo Yang" webpage: "https://shuoyangrobotics.github.io/" github: ShuoYangRobotics - role: phd + role: alum image: /img/people/shuo.jpg - bio: Legged Robots State Estimation, Mapping and Control + bio: Founder and CTO at Mondo Technology fausto: display_name: "Fausto Vega" webpage: "https://www.linkedin.com/in/fausto-vega/" github: vegaf1 role: phd - image: /img/people/fausto.jpg - bio: Small spacecraft and navigation + image: /img/people/faustovega.jpg + bio: Convex Optimization for Mission Design chiyen: display_name: "Chiyen Lee" @@ -169,10 +168,11 @@ chiyen: github: ChiyenLee role: alum image: /img/people/chiyen.jpeg - bio: Dextrous Robotics + bio: Applied Intuition alex: display_name: "Alexander Bouman" + webpage: https://www.linkedin.com/in/alexander-bouman-93622629a/ github: aabouman role: alum image: /img/people/chiyen.jpeg @@ -184,15 +184,15 @@ brandon: github: BrandonHung343 role: alum image: /img/people/brandonhung.jpg - bio: Boston Dynamics AI Institute + bio: RAI Institute jbwillis: display_name: "Jacob Willis" webpage: "https://www.linkedin.com/in/jacob-willis/" github: jbwillis - role: phd + role: alum image: /img/people/jacobwillis.jpg - bio: Small spacecraft systems and control + bio: Albedo Space jj: display_name: "Jeong Hun (JJ) Lee" @@ -207,24 +207,24 @@ paulo: webpage: "https://www.linkedin.com/in/paulo-fisch" github: Pfisch23 role: phd - image: /img/people/Paulo.jpg - bio: Small satellite vision and localization + image: /img/people/Paulo2.jpeg + bio: Small Satellite Vision and Localization mitch: display_name: "Mitchell Fogelson" webpage: "https://www.mitchellfogelson.com" github: mfogelson - role: phd + role: alum image: /img/people/mitch.png - bio: Design and Control Optimization + bio: Founder at Beyond Reach Labs sofia: display_name: "Sofia Kwok" webpage: "https://sites.google.com/view/sofiakwok/" github: sofiakwok - role: masters + role: alum image: /img/people/sofia.jpg - bio: Flying vehicle optimization and control + bio: Starfish Space zixin: display_name: "Zixin Zhang" @@ -234,87 +234,167 @@ zixin: image: /img/people/zixin.jpg bio: PhD at Northwestern University - giusy: display_name: "Giusy Falcone" webpage: "https://gfalcon2.web.illinois.edu/" github: gfalcon2 - role: postdoc + role: alum image: /img/people/giusy.jpg - bio: Postdoctoral Fellow + bio: Assistant Professor at University of Michigan john: display_name: "John Zhang" webpage: "https://johnzhang3.github.io/" github: johnzhang3 - role: masters + role: phd image: /img/people/john.jpg - bio: Optimization and control through contact + bio: GPU Accelerated Optmization and Control through Contact +saral: + display_name: "Saral Tayal" + webpage: "https://www.linkedin.com/in/saraltayal/" + github: + role: alum + image: + bio: Tesla + khai: display_name: "Khai Nguyen" webpage: "https://xkhainguyen.github.io/" github: xkhainguyen - role: masters + role: alum image: /img/people/khai.jpg - bio: Optimization-based planning and control + bio: PhD at MIT sam: display_name: "Sam Schoedel" webpage: "https://samschoedel.com/" github: sschoedel - role: masters + role: alum image: /img/people/sam.jpg - bio: Optimization-based planning and control + bio: Apptronik arun: display_name: "Arun Bishop" webpage: "https://www.linkedin.com/in/arun-bishop" - github: abot98 + github: arunleob role: phd image: /img/people/arun.jpg - bio: Optimization and control through contact + bio: Contact-rich Optimization and Control ibrahima: display_name: "Ibrahima S. Sow" - webpage: "https://www.linkedin.com/in/ibrasw/" + webpage: "https://ibrassow.github.io/" github: Ibrassow - role: masters + role: alum image: /img/people/ibrahima.jpg - bio: Planning and control for space robotics + bio: Tesla AI + +prakrit: + display_name: "Prakrit Tyagi" + webpage: "https://prakrittyagi.github.io/" + github: prakrittyagi + role: alum + image: /img/people/prakrit.jpg + bio: Optimization and Control aaronT: display_name: "Aaron Trowbridge" webpage: "https://aarontrowbridge.github.io/" github: aarontrowbridge role: staff - image: /img/people/AaronT.jpeg + image: /img/people/AaronT.jpg bio: Quantum Optimal Control anoushka: display_name: "Anoushka Alavilli" - # webpage: "https://www.linkedin.com/in/ibrasw/" + webpage: "https://www.linkedin.com/in/anoushka-alavilli-89586b178/" # github: - role: masters + role: alum image: /img/people/Anoushka.jpg - bio: Optimization and learning-based control + bio: Ph.D. at CMU willK: display_name: "Will Kraus" webpage: "https://willkraus9.github.io/" github: willkraus9 - role: masters + role: alum image: /img/people/WillKraus.png - bio: Planning and control for Legged Robots + bio: Roboligent juan: display_name: "Juan Alvarez Padilla" webpage: "https://www.linkedin.com/in/juan-alvarez-padilla/" # github: Ibrassow role: phd - image: /img/people/JuanRodolfoRexLab.jpg + image: /img/people/JuanRodolfoRexLab.webp bio: Learning and Optimization Based Controls +pedro: + display_name: "Pedro Andrade" + webpage: "https://www.linkedin.com/in/pedronrandrade/" + github: + role: alum + image: /img/people/pedro.jpg + bio: Small Satellite Avionics and Control + +ashley: + display_name: "Ashley Kline" + webpage: "https://www.linkedin.com/in/ankline/" + github: + role: alum + image: /img/people/ashley.jpeg + bio: Small Spacecraft Design and Navigation + +pedro2: + display_name: "Pedro Cachim" + webpage: "https://www.linkedin.com/in/pedro-rocha-cachim/" + github: prchall123 + role: phd + image: /img/people/pedro2.jpg + bio: Spacecraft Guidance, Navigation and Control + +tae: + display_name: "Tae Rugh" + webpage: "http://www.taerugh.com/" + github: taerugh + role: alum + image: /img/people/tae.jpg + bio: clippership + +jon_arrizabalaga: + display_name: "Jon Arrizabalaga" + webpage: "https://jonarriza96.github.io/" + github: + role: postdoc + image: /img/people/jonarrizabalaga.jpg + bio: Optimization and Control + +elakhya: + display_name: "Elakhya Nedumaran" + webpage: "https://www.linkedin.com/in/elakhya-nedumaran/ " + github: + role: alum + image: /img/people/elakhya.png + bio: Optimization-based Control + +neil: + display_name: "Neil Khera" + webpage: "https://www.linkedin.com/in/neilkhera/" + github: NeilKhera + role: staff + image: /img/people/Neil.jpg + bio: Small Satellite Hardware and Avionics + +chase: + display_name: "Chase Dunaway" + webpage: "https://www.linkedin.com/in/chase-dunaway-bb91612a8/" + github: + role: phd + image: /img/people/chase.jpg + bio: Spacecraft Orbit Determination + + # grad-a: # display_name: "Grad A" # role: grad diff --git a/_data/pubs.yml b/_data/pubs.yml index d23355b..9a37278 100644 --- a/_data/pubs.yml +++ b/_data/pubs.yml @@ -1,3 +1,261 @@ + +- title: "Convex Maneuver Planning for Spacecraft Collision Avoidance" + authors: [fausto, jon_arrizabalaga, Ryan Watson, zac] + publisher: International Conference on Space Robotics + pub-type: conference + date: 2025-12-01 + venue: Sendai, Japan + pdf: convex_cola_maneuvers.pdf + projects: [cvx_cola] + status: Accepted + +- title: "The Trajectory Bundle Method: Unifying Sequential-Convex Programming and Sampling-Based Trajectory Optimization" + authors: [kevin, john, jon_arrizabalaga, Stefan Schaal, Yuval Tassa, Tom Erez, zac] + publisher: arXiv + pub-type: conference + date: 2025-09-30 + pdf: https://arxiv.org/pdf/2509.26575 + projects: [trajectory_bundle] + status: In Review + +- title: "The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control" + authors: [arun, juan, sam, ibrahima, Juee Chandrachud, Sheitej Sharma, willK, Beomyeong Park, Robert J. Griffin, John M. Dolan, zac] + publisher: IEEE Humanoids. + pub-type: conference + date: 2025-09-30 + venue: Seoul, South Korea + pdf: linear_walking.pdf + projects: [linear_walking] + status: Accepted + +- title: "A Convex Optimization Approach to Solar Sail Station-Keeping Control in Halo Orbits" + authors: [fausto, zac, Martin Lo] + publisher: IEEE Aerospace Conference + pub-type: conference + date: 2025-03-11 + venue: Big Sky, MT + pdf: cvx_mpc_solarsailing.pdf + projects: [cvx_mpc_stationkeeping] + status: Accepted + +- title: "Contingency-Aware Station-Keeping Control of Halo Orbits" + authors: [fausto, zac, Martin Lo] + publisher: IEEE Aerospace Conference + pub-type: conference + date: 2025-03-11 + venue: Big Sky, MT + pdf: cvx_mpc_stationkeeping.pdf + projects: [cvx_mpc_stationkeeping] + status: Accepted + +- title: "Whole-Body Model-Predictive Control of Legged Robots with MuJoCo" + authors: [john, taylor, Zeji Yi, Chaoyi Pan, Guanya Shi, Quannan Qu, Tom Erez, Yuval Tassa, zac] + publisher: arxiv + pub-type: conference + date: 2025-03-07 + pdf: https://arxiv.org/pdf/2503.04613 + projects: [mujoco_mpc] + status: In Review + +- title: "On-Orbit Demonstration of Range-Only Navigation for Small Satellite Formations" + authors: [ibrahima, max, Jan Stupl, Roger Hunter, zac] + publisher: IEEE Aerospace Conference + pub-type: conference + date: 2025-03-06 + venue: Big Sky, MT + pdf: relative_ranging_aero25.pdf + status: Accepted + +- title: "Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control" + authors: [juan, john, sofia, John M. Dolan, zac] + publisher: IEEE International Conference on Robotics and Automation + abbrv: ICRA + venue: Atlanta, GA + pub-type: conference + date: 2025-05-19 + pdf: https://arxiv.org/pdf/2409.10469 + projects: [wholebody_mppi] + # status: In Review + +- title: "Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots" + authors: [zixin, john, shuo, zac] + publisher: IEEE International Conference on Robotics and Automation + abbrv: ICRA + pub-type: conference + venue: Atlanta, GA + date: 2025-05-19 + pdf: https://arxiv.org/pdf/2409.09940 + # status: In Review + +- title: "Wallbounce : Push wall to navigate with Contact-Implicit MPC" + authors: [Xiaohan Liu, Cunxi Dai, john, arun, zac, Ralph Hollis] + publisher: IEEE International Conference on Robotics and Automation + abbrv: ICRA + pub-type: conference + venue: Atlanta, GA + date: 2025-05-19 + pdf: https://arxiv.org/pdf/2411.01387 + +- title: "Differentiable Collision-Free Parametric Corridors" + authors: [Jon Arrizabalaga, Zachary Manchester, Markus Ryll] + projects: [collision_free_corridors] + publisher: International Conf. on Intelligent Robots and Systems + abbrv: IROS + pub-type: conference + venue: Abu Dhabi, UAE + date: 2024-10-14 + pdf: https://arxiv.org/pdf/2407.12283 + status: Accepted + +- title: "CAPO: Control and Actuator Placement Optimization for Large-Scale Problems with Nonlinear Dynamics" + authors: [Mitchell B. Fogelson, Giusy Falcone, Zachary Manchester] + projects: [capo] + publisher: International Workshop on the Algorithmic Foundations of Robotics + abbrv: WAFR + pub-type: conference + venue: Chicago, IL + date: 2024-10-07 + pdf: CAPO_WAFR_2024.pdf + status: Accepted + +- title: "From Pixels to Torques with Linear Feedback" + authors: [Jeong Hun Lee, Sam Schoedel, Aditya Bhardwaj, Zachary Manchester] + projects: [linear_pixels_to_torques] + publisher: International Workshop on the Algorithmic Foundations of Robotics + abbrv: WAFR + pub-type: conference + venue: Chicago, IL + date: 2024-10-07 + pdf: linear_pixels_to_torques.pdf + status: Accepted + +- title: "The PY4 Mission: A Low-Cost Demonstration of CubeSat Formation-Flying Technologies" + authors: [max, Rachel Ticknor, Jan Stupl, Roger Hunter, paulo, ibrahima, jbwillis, zac] + date: 2024-08-04 + pub-type: conference + publisher: AIAA/USU Conference on Small Satellites + abbrv: SmallSat + venue: Logan, Utah + pdf: py4_smallsat.pdf + +- title: "From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers" + authors: [swamig, Karnik Ram, Bingqing Chen, zac, Zico Kolter] + publisher: Conference on Computer Vision and Pattern Recognition + abbrv: CVPR + pub-type: conference + venue: Seattle, WA + date: 2024-06-13 + pdf : https://arxiv.org/abs/2406.07785 + status : Accepted + +- title: "VINSat: Solving the Lost-in-Space Problem with Visual Inertial Navigation" + authors: [Kyle McCleary, swamig, paulo, saral, zac, Brandon Lucia] + publisher: IEEE International Conference on Robotics and Automation + abbrv: ICRA + pub-type: conference + venue: Yokohama, Japan + date: 2024-05-15 + pdf: Vinsat.pdf + status: Accepted + +- title: "A Convex Formulation of the Soft-Capture Problem" + authors: [ibrahima, Geordan Gutow, Howie Choset, zac] + projects: [soft_capture] + publisher: IEEE International Conference on Space Robotics + abbrv: iSpaRo + pub-type: conference + venue: Luxembourg, Luxembourg + date: 2024-06-24 + pdf: https://arxiv.org/pdf/2405.00867 + status: Accepted + +- title: "Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC" + authors: [sam, khai, elakhya, Brian Plancher, zac] + projects: [tinympc] + publisher: Conference on Decision and Control + abbrv: CDC + pub-type: conference + venue: Milan, Italy + date: 2024-12-16 + pdf: tinympc_cdc24.pdf + status: In Review + +- title: "Direct Collocation for Quantum Optimal Control" + authors: [aaronT, Aditya Bhardwaj, Kevin He, David I. Schuster, zac] + date: 2023-05-05 + pub-type: conference + publisher: IEEE International Conference on Quantum Computing and Engineering + pdf: https://arxiv.org/abs/2305.03261 + venue: Seattle, WA + projects: [quantum] + status: Best Paper Award + +- title: "Building a Better B-Dot: Fast Detumbling with Non-Monotonic Lyapunov Functions" + authors: [jbwillis, paulo, Aleksei Seletskiy, zac] + publisher: IEEE Aerospace Conference + pub-type: conference + date: 2024-03-02 + pdf: nonmonotonic_detumbling_ieee24.pdf + status: Accepted + +- title: "A Massively Parallel Method for Fast Computation of Invariant Manifolds" + authors: [fausto, Martin Lo, zac, Jon Sims] + publisher: IEEE Aerospace Conference + pub-type: conference + date: 2024-03-02 + pdf: invmanifolds_ieee24.pdf + status: Accepted + +- title: "An Architecture Study for Low-Power Satellite-Based Wildlife Tracking" + authors: [fausto, James Phillips, Kathryn Lampo, Robert MacCurdy, zac] + publisher: IEEE Aerospace Conference + pub-type: conference + date: 2024-03-02 + pdf: wildlife_ieee24.pdf + status: Accepted + +- title: "High-Expansion-Ratio Deployable Structures for Long Duration Space Missions" + authors: [mitch, Sawyer Thomas, giusy, Jeffery Lipton, zac] + projects: [herds] + publisher: IEEE Aerospace Conference + pub-type: conference + date: 2024-03-02 + pdf: /HERDs_Fogelson_Thomas_Manchester_Lipton_Falcon_IEEE_Aero_01_12_24.pdf + status: Accepted + +- title: "Efficient Online Learning of Contact Force Models for Connector Insertion" + authors: [kevin, zac, Ajinkya Jain, Keegan Go, Stefan Schaal, Tom Erez, Yuval Tassa] + publisher: arXiv + publisher: IEEE International Conference on Robotics and Automation + abbrv: ICRA + venue: Atlanta, GA + pub-type: conference + date: 2025-05-19 + pdf: https://model-based-plugging.github.io/ + # status: In Review + +- title: "TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers" + authors: [khai, sam, anoushka, Brian Plancher, zac] + projects: [tinympc] + publisher: International Conference on Robotics and Automation + abbrv: ICRA + pub-type: conference + venue: Yokohama, Japan + date: 2024-05-15 + pdf: https://arxiv.org/abs/2310.16985 + status: Accepted + +- title: "ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control" + authors: [arun, john, swamig, kevin, zac] + projects: [relu-qp] + publisher: International Conference on Robotics and Automation + abbrv: ICRA + pub-type: conference + venue: Yokohama, Japan + date: 2024-05-15 + pdf: https://arxiv.org/abs/2311.18056 + status: Accepted + - title: "Fast Contact-Implicit Model-Predictive Control" authors: [simon, taylor, shuo, chiyen, john, arun, Mac Schwager, zac] date: 2023-08-23 @@ -5,7 +263,7 @@ publisher: IEEE Transactions on Robotics pdf: contact_implicit_mpc_paper.pdf projects: [ci_mpc] - status: Conditionally Accepted + status: Accepted - title: "SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos" authors: [john, shuo, Gengshan Yang, arun, swamig, Deva Ramanan, zac] @@ -39,6 +297,26 @@ pdf: foot_imu_iros2023.pdf projects: [quad_estimation] +- title: "Deep Off-Policy Iterative Learning Control" + authors: [swamig, Zico Kolter, zac] + publisher: Learning for Dynamics and Control Conference + abbrv: L4DC + pub-type: conference + venue: Philadelphia, PA + date: 2023-06-14 + pdf : https://proceedings.mlr.press/v211/gurumurthy23b.html + status : Accepted + +- title: "Practical Critic Gradient based Actor Critic for On-Policy Reinforcement Learning" + authors: [swamig, zac, Zico Kolter] + publisher: Learning for Dynamics and Control Conference + abbrv: L4DC + pub-type: conference + venue: Philadelphia, PA + date: 2023-06-14 + pdf : https://proceedings.mlr.press/v211/gurumurthy23a.html + status : Accepted + - title: "Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications" authors: [jj, Mike Y. Michelis, Robert Katzschmann, zac] date: 2023-05-29 diff --git a/_includes/project-card.html b/_includes/project-card.html index 926eb86..1b5bea1 100755 --- a/_includes/project-card.html +++ b/_includes/project-card.html @@ -6,7 +6,6 @@ {% else %} {% capture proj-url %}{{site.base}}{{project.url}}.html{% endcapture %} {% endif %} -
{% if project.image %} @@ -16,7 +15,9 @@ {% capture imgurl %}{{site.base}}{{project.image}}{% endcapture %} {% endif %} - {{project.title}} +
+ {{project.title}} +
{% endif %} {% if project.notitle != true %} @@ -47,3 +48,44 @@
{% endif %}
+ + diff --git a/_layouts/default.html b/_layouts/default.html index 8ea105c..425f270 100755 --- a/_layouts/default.html +++ b/_layouts/default.html @@ -18,6 +18,7 @@ +
@@ -26,8 +27,8 @@ flex-column flex-md-row justify-content-md-between align-items-md-end"> -