Google scholar profile

A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling
Lujie Yang, Tobia Marcucci, Pablo A. Parrilo, and Russ Tedrake.
Under review in IEEE International Conference on Robotics and Automation (ICRA). 2025.

Multi-Query Shortest-Path Problem in Graphs of Convex Sets
Savva Morozov, Tobia Marcucci, Alexandre Amice, Bernhard Paus Graesdal, Rohan Bosworth, Pablo A. Parrilo, and Russ Tedrake.
International Workshop on the Algorithmic Foundations of Robotics (WAFR). 2024.
[pdf]

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.
IEEE Conference on Decision and Control (CDC). 2024.
[pdf]

Fast Path Planning Through Large Collections of Safe Boxes
Tobia Marcucci, Parth Nobel, Russ Tedrake, and Stephen Boyd.
IEEE Transactions on Robotics (TRO). 2024.
[pdf] [code]

Graphs of Convex Sets with Applications to Optimal Control and Motion Planning
Tobia Marcucci.
PhD Thesis at the Massachusetts Institute of Technology. 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.
Robotics: Science and Systems (RSS). 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). 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]

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
IEEE RAS TC Model Based Optimization for Robotics Best Paper Award
[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]