Lucas Manuelli

I'm a research scientist at NVIDIA. Recently I finished my PhD in Computer Science at MIT with Russ Tedrake in the Robot Locomotion Group within CSAIL. My research focuses on perception and control for robotic manipulation.

Prior to starting the PhD I worked on the MIT Darpa Robotics Challenge Team doing planning and controls for the Atlas robot.

Github // Google Scholar // CV

You can contact me at:

lucas dot t dot manuelli at gmail dot com

manuelli dot mit dot edu

News

Publications

* denotes co-lead authorship
  • Lucas Manuelli, Yunzhu Li, Peter R. Florence, and Russ Tedrake. Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning. Conference on Robot Learning, November 2020. [ pdf ] [ project page ]
  • Peter R. Florence, Lucas Manuelli, and Russ Tedrake. Self-Supervised Correspondence in Visuomotor Policy Learning. IEEE Robotics and Automation Letters , April 2020.
    IEEE Robotics and Automation Letters Best Paper Award 2020 .
    [ pdf ] [ project page ]
  • Lucas Manuelli*, Wei Gao*, Peter R. Florence and Russ Tedrake. kPAM: KeyPoint Affordances for Category Level Manipulation. ISRR 2019[ pdf ] [ project page ]
  • Peter R. Florence*, Lucas Manuelli*, and Russ Tedrake. Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation. Conference on Robot Learning 2018.
    CoRL 2018 Best Paper Award.
    Winner Best Technical Paper, 2018 Amazon Robotics Best Paper Awards in Manipulation
    [ pdf ] [ video ] [ code ]
  • Lucas Manuelli, and Russ Tedrake. Localizing external contact using proprioceptive sensors: The contact particle filter. Masters Thesis , MIT Feb 2018
    [ pdf ]. [ hardware experiments ]
  • Pat Marion*, Peter R. Florence*, Lucas Manuelli*, and Russ Tedrake. LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes. In International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018.
    Best Vision Paper Nominee
    [ website with code, video, paper]
  • Lucas Manuelli and Russ Tedrake. Localizing external contact using proprioceptive sensors: The contact particle filter. In International Conference on Intelligent Robots and Systems (IROS), October 2016.
    [ pdf ][ hardware experiments ] [ simulation video ]
  • Pat Marion, Maurice Fallon, Robin Deits, Andrés Valenzuela, Claudia Pérez D'Arpino, Greg Izatt, Lucas Manuelli, Matt Antone, Hongkai Dai, Twan Koolen, John Carter, Scott Kuindersma, and Russ Tedrake. Director: A user interface designed for robot operation with shared autonomy. Journal of Field Robotics, 1556-4967, 2016.
    [ pdf ]

Other Projects

  • I wrote a walking controller for the Atlas humanoid robot built by Boston Dynamics.
  • I wrote a walking controller for the Valkyrie humanoid robot built by NASA.

Internships

Videos