Publications

Dexterous Contact-Rich Manipulation via the Contact Trust Region

H.J. Terry Suh*, Tao Pang*, Tong Zhao, Russ Tedrake

International Journal of Robotics Research (IJRR), 2026

Inaugural IJRR Paper of the Season

Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasidynamic Contact Models

Tao Pang*, H.J. Terry Suh*, Lujie Yang, Russ Tedrake

Transactions on Robotics (T-RO), 2023

Honorable Mention for IEEE T-RO 2023 King-Sun Fu Memorial Best Paper Award

Bundled Gradients through Contact via Randomized Smoothing

H.J. Terry Suh*, Tao Pang*, Russ Tedrake

IEEE Robotics and Automation Letters (RA-L) 7(2), 4000-4007, 2022. Presented at ICRA.

Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization

Lujie Yang, H.J. Terry Suh, Tong Zhao, Bernhard Paus Graesdal, Tarik Kelestemur, Jiuguang Wang, Tao Pang, Russ Tedrake

Robotics: Science and Systems (RSS), 2025

Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?

Yuki Shirai, Tong Zhao, H.J. Terry Suh, Huaijiang Zhu, Xinpei Ni, Jiuguang Wang, Max Simchowitz, Tao Pang

International Conference on Robotics and Automation (ICRA), 2025

Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching

H.J. Terry Suh, Glen Chou, Hongkai Dai, Lujie Yang, Abhishek Gupta, Russ Tedrake

Conference on Robot Learning (CoRL), 2023

SEED: Series Elastic End-Effectors in 6D for Visuotactile Tool Use

H.J. Terry Suh, Naveen Kuppuswamy, Tao Pang, Paul Mitiguy, Alex Alspach, Russ Tedrake

International Conference on Intelligent Robots and Systems (IROS), 2022

Do Differentiable Simulators Give Better Policy Gradients?

H.J. Terry Suh, Max Simchowitz, Kaiqing Zhang, Russ Tedrake

International Conference on Machine Learning (ICML), 2022, Long Talk

ICML Outstanding Paper Award

IEEE RAS TC on Model-Based Optimization in Robotics, Best Paper Award of the Year, 2022

The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation

H.J. Terry Suh, Russ Tedrake

Algorithmic Foundations of Robotics XIV (WAFR), 347-363, 2020

Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion

H.J. Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick

IEEE International Conference on Intelligent Robots and Systems (IROS), 2020

Towards a Humanoid-Oriented Movement Writing

Adrian Stoica, H.J. Terry Suh, Steven Hewitt, Sarah Bechtle, Anna Gruebler, Yumi Iwashita

IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2017

Leveraging Structure for Efficient and Dexterous Contact-Rich Manipulation

H.J. Terry Suh. Advised by: Russ Tedrake.

Ph.D., Massachusetts Institute of Technology

Predictive Models for Visuomotor Feedback Control in Object Pile Manipulation

H.J. Terry Suh. Advised by: Russ Tedrake.

S.M., Massachusetts Institute of Technology

Design and Planning of Flying-Driving Hybrid Robot

H.J. Terry Suh. Advised by: Joel W. Burdick, Aaron D. Ames.

B.S., California Institute of Technology

Method and System for Providing Learning-State Information of an Artificial-Neural-Network-Based Control Model for a Vision-Based Automated Robot

Daeseon Park, Seungji Seo, Taekyoung Noh, H.J. Terry Suh

South Korea, KR 10-3005172, registered August 2026

Method and System for Processing Video for Training an Artificial-Neural-Network-Based Robot Control Model

Seungji Seo, Taekyoung Noh, Daeseon Park, H.J. Terry Suh

South Korea, KR 10-2976567, registered June 2026

Method and System for Imitation-Learning-Based Process Automation Using a Robot Hand Apparatus for Both Teaching and Motion

H.J. Terry Suh, Seungji Seo, Seungjoon Lee, Daeseon Park, Taekyoung Noh

South Korea, KR 10-2961895, registered April 2026

Non-Powered Teaching Device for Generating Training Data

H.J. Terry Suh, Sijun Ryu, Jehyeok Kim

South Korea, KR 10-2922902, registered January 2026

Automatic Control Method and System for an Individual Robot Using a Universal Inference Model

H.J. Terry Suh, Seungjoon Lee

South Korea, KR 10-2907654, registered December 2025

Pathologies and Challenges of Using Differentiable Simulators in Policy Optimization for Contact-Rich Manipulation

H.J. Terry Suh, Max Simchowitz, Kaiqing Zhang, Tao Pang, Russ Tedrake

ICRA 2022 Workshop: Reinforcement Learning for Contact-Rich Manipulation

SEED: Series Elastic End-Effectors in 6D For Compliant Visuotactile Tool Use

H.J. Terry Suh, Naveen Kuppuswamy, Tao Pang, Paul Mitiguy, Alex Alspach, Russ Tedrake

ICRA 2022 Workshop: Compliant Robot Manipulation: Challenges and New Opportunities

How does Noising Data Affect Learned Contact Dynamics?

H.J. Terry Suh, Max Simchowitz, Tao Pang, Russ Tedrake

Comparing Effectiveness of Relaxation Methods for Warm Starting Trajectory Optimization through Soft Contact

H.J. Terry Suh, Yanwei Wang

Inertial-aided Normal Estimation for Planar Feature Mapping: Unique Solution to Homography Decomposition

H.J. Terry Suh

Semantic Task Planning in Household Environments using Temporal Logic Synthesis

H.J. Terry Suh

A Fast PRM Planner for Car-like Vehicles

H.J. Terry Suh, James Deacon, Qifan Wang

End-to-End Full-State Dynamics of Generic Rotorcrafts

H.J. Terry Suh

Hierarchical Extended Kalman Filter with Frequent Propagation for UAV Localization

H.J. Terry Suh

Manipulator-based Haptic Controller for Car-like Vehicles

H.J. Terry Suh, Peter Renn, Qifan Wang, Neha Sunil

Design of an Anthropomorphic Closed-Loop Chain Manipulator

H.J. Terry Suh, James Deacon, Hana Keller

Design of an Intelligent Bear Robot with Emotional Learning Capabilities for Enhanced Human-Robot Interaction

H.J. Terry Suh, Woo-Sik Lee, Ju Hwan Seo