Author

Russ Tedrake

2 papers indexed here

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Preprint Sep 2026

Planning along Differentiable Charts of Constraint Manifolds with General-Purpose IK Solvers

A new approach for computing gradients of analytic IK parameterizations is presented, using the inverse function theorem to recover the desired gradients from the ordinary forward kinematic Jacobian, and a least-squares domain extension and an optimization-amenable description of the reachability constraint are present...

Thomas Cohn, Seiji Shaw, Harel Biggie et al. · 2 citations

Preprint Aug 2026

Revisiting Open-Loop Execution in Robotics: Toward Reactive, Higher-Performing Policies

Action chunking --- the practice of predicting a sequence of actions and executing a prefix open-loop --- has emerged as a key enabler of recent progress in imitation learning for robotic manipulation. However, executing long open-loop prefixes reduces reactivity, limiting policies'ability to correct for errors. Furthe...

Michael Zeng, Abhinav Agarwal, Ajay Bati et al. · 3 citations