Google scholar profile

On the Sample Complexity of Imitation Learning for Smoothed Model Predictive Control
Daniel Pfrommer, Swati Padmanabhan, Kwangjun Ahn, Jack Umenberger, Tobia Marcucci, Zakaria Mhammedi, and Ali Jadbabaie.
Under review in IEEE Conference on Decision and Control (CDC). 2024.
[pdf]

Towards Tight Convex Relaxations for Contact-Rich Manipulation
Bernhard P. Graesdal, Shao Y.C. Chia, Tobia Marcucci, Savva Morozov, Alexandre Amice, Pablo A. Parrilo, and Russ Tedrake.
Preprint available on ArXiv. 2024.
[pdf]

Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs
Peter Werner, Alexandre Amice, Tobia Marcucci, Daniela Rus, and Russ Tedrake.
IEEE International Conference on Robotics and Automation (ICRA), preprint available on ArXiv. 2024.
[pdf] [website]

Shortest Paths in Graphs of Convex Sets
Tobia Marcucci, Jack Umenberger, Pablo A. Parrilo, and Russ Tedrake.
SIAM Journal on Optimization. 2024.
[pdf] [code]

Model-Based Control with Sparse Neural Dynamics
Ziang Liu, Jeff He, Genggeng Zhou, Tobia Marcucci, Li Fei-Fei, Jiajun Wu, and Yunzhu Li.
Conference on Neural Information Processing Systems (NeurIPS). 2023.
[pdf]

Smooth Model Predictive Control with Applications to Statistical Learning
Kwangjun Ahn, Daniel Pfrommer, Jack Umenberger, Tobia Marcucci, Zak Mhammedi, and Ali Jadbabaie.
Preprint available on ArXiv. 2023.
[pdf]

Fast Path Planning Through Large Collections of Safe Boxes
Tobia Marcucci, Parth Nobel, Russ Tedrake, and Stephen Boyd.
Under review in IEEE Transactions on Robotics (TRO), preprint available on ArXiv. 2023.
[pdf] [code]

Motion Planning around Obstacles with Convex Optimization
Tobia Marcucci, Mark Petersen, David von Wrangel, and Russ Tedrake.
Science Robotics. 2023.
(Cover of the November 2023 issue)
[pdf] [free-access pdf] [code]

Warm Start of Mixed-Integer Programs for Model Predictive Control of Hybrid Systems
Tobia Marcucci and Russ Tedrake.
IEEE Transactions on Automatic Control (TAC). 2020.
[pdf] [code]

Mixed-Integer Formulations for Optimal Control of Piecewise-Affine Systems
Tobia Marcucci and Russ Tedrake.
ACM International Conference on Hybrid Systems: Computation and Control (HSCC). 2019.
[pdf] [code]

Parametric Trajectory Libraries for Online Motion Planning with Application to Soft Robots
Tobia Marcucci, Manolo Garabini, Gian Maria Gasparri, Alessio Artoni, Marco Gabiccini, and Antonio Bicchi.
International Symposium on Robotic Research (ISRR). 2017.
[pdf]

Approximate Hybrid Model Predictive Control for Multi-Contact Push Recovery in Complex Environments
Tobia Marcucci, Robin Deits, Marco Gabiccini, Antonio Bicchi, and Russ Tedrake.
IEEE International Conference on Humanoid Robots (Humanoids). 2017.
[pdf] [code]

Approximate Explicit Model Predictive Control for Push Recovery Using Mixed-Integer Convex Optimization
Robin Deits, Tobia Marcucci, Lucas Manuelli, Twan Koolen, and Russ Tedrake.
Dynamic Walking. 2017.
[pdf]

Towards Minimum-Information Adaptive Controllers for Robot Manipulators
Tobia Marcucci, Cosimo Della Santina, Marco Gabiccini, and Antonio Bicchi.
IEEE American Control Conference (ACC). 2017.
[pdf]

A Two-Stage Trajectory Optimization Strategy for Articulated Bodies With Unscheduled Contact Sequences
Tobia Marcucci, Marco Gabiccini, and Alessio Artoni.
IEEE Robotics and Automation Letters (RAL). 2017.
[pdf]