Zachary Manchester

114 papers A* 19A 4C 4Misc 2Journal 73Unranked 12
YearRankTypeTitle / Venue / Authors
2026 J jnl
ADMM-based Continuous Trajectory Optimization in Graphs of Convex Sets.
CoRR
Lukas Pries, Jon Arrizabalaga, Zachary Manchester, Markus Ryll
2026 J jnl
Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations.
CoRR
Xili Yi, Ying Xing, Zachary Manchester, Nima Fazeli
2025 J jnl
A Unified Framework for Simulating Strongly-Coupled Fluid-Robot Multiphysics.
CoRR
Jeong Hun Lee, Junzhe Hu, Sofia Kwok, Carmel Majidi, Zachary Manchester
2025 J jnl
Convex Maneuver Planning for Spacecraft Collision Avoidance.
CoRR
Fausto Vega, Jon Arrizabalaga, Ryan Watson, Zachary Manchester
2025 A* conf
Efficient Online Learning of Contact Force Models for Connector Insertion.
ICRA
Kevin Tracy, Zachary Manchester, Ajinkya Jain, Keegan Go, Stefan Schaal, Tom Erez, Yuval Tassa
2025 J jnl
How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints.
CoRR
Kensuke Nakamura, Arun L. Bishop, Steven Man, Aaron M. Johnson, Zachary Manchester, Andrea Bajcsy
2025 J jnl
Multi-IMU Sensor Fusion for Legged Robots.
CoRR
Shuo Yang, Zixin Zhang, John Z. Zhang, Ibrahima Sory Sow, Zachary Manchester
2025 A* conf
Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control.
ICRA
Juan Alvarez-Padilla, John Z. Zhang, Sofia Kwok, John M. Dolan, Zachary Manchester
2025 A* conf
Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots.
ICRA
Zixin Zhang, John Z. Zhang, Shuo Yang, Zachary Manchester
2025 J jnl
The 2025 Summer School on Optimization for Robotics [Education].
IEEE Robotics Autom. Mag.
Konstantinos I. Chatzilygeroudis, Shivesh Kumar, Brian Plancher, Zachary Manchester, Enrico Mingo Hoffman, Patrick M. Wensing
2025 — conf
The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control.
Humanoids
Arun L. Bishop, Juan Alvarez-Padilla, Sam Schoedel, Ibrahima Sory Sow, Juee Chandrachud, Sheitej Sharma, Will Kraus, Beomyeong Park, Robert J. Griffin, John M. Dolan, Zachary Manchester
2025 J jnl
The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control.
CoRR
Arun L. Bishop, Juan Alvarez-Padilla, Sam Schoedel, Ibrahima Sory Sow, Juee Chandrachud, Sheitej Sharma, Will Kraus, Beomyeong Park, Robert J. Griffin, John M. Dolan, Zachary Manchester
2025 J jnl
The Trajectory Bundle Method: Unifying Sequential-Convex Programming and Sampling-Based Trajectory Optimization.
CoRR
Kevin Tracy, John Z. Zhang, Jon Arrizabalaga, Stefan Schaal, Yuval Tassa, Tom Erez, Zachary Manchester
2025 J jnl
Universal Dynamics with Globally Controlled Analog Quantum Simulators.
CoRR
Hong-Ye Hu, Abigail McClain Gomez, Liyuan Chen, Aaron Trowbridge, Andy J. Goldschmidt, Zachary Manchester, Frederic T. Chong, Arthur Jaffe, Susanne F. Yelin
2025 A* conf
Wallbounce: Push Wall to Navigate with Contact-Implicit MPC.
ICRA
Xiaohan Liu, Cunxi Dai, John Z. Zhang, Arun L. Bishop, Zachary Manchester, Ralph Hollis
2025 J jnl
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo.
CoRR
John Z. Zhang, Taylor A. Howell, Zeji Yi, Chaoyi Pan, Guanya Shi, Guannan Qu, Tom Erez, Yuval Tassa, Zachary Manchester
2024 J jnl
A Convex Formulation of the Soft-Capture Problem.
CoRR
Ibrahima Sory Sow, Geordan Gutow, Howie Choset, Zachary Manchester
2024 J jnl
Adapting LoRa Ground Stations for Low-latency Imaging and Inference from LoRa-enabled CubeSats.
ACM Trans. Sens. Networks
Akshay Gadre, Zachary Manchester, Swarun Kumar
2024 J jnl
Building a Better B-Dot: Fast Detumbling with Non-Monotonic Lyapunov Functions.
CoRR
Jacob B. Willis, Paulo R. M. Fisch, Aleksei Seletskiy, Zachary Manchester
2024 J jnl
Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC.
CoRR
Sam Schoedel, Khai Nguyen, Elakhya Nedumaran, Brian Plancher, Zachary Manchester
2024 J jnl
Contingency-Aware Station-Keeping Control of Halo Orbits.
CoRR
Fausto Vega, Zachary Manchester, Martin Lo, Ricardo Restrepo
2024 A conf
Differentiable Collision-Free Parametric Corridors.
IROS
Jon Arrizabalaga, Zachary Manchester, Markus Ryll
2024 J jnl
Differentiable Collision-Free Parametric Corridors.
CoRR
Jon Arrizabalaga, Zachary Manchester, Markus Ryll
2024 J jnl
Fast Contact-Implicit Model Predictive Control.
IEEE Trans. Robotics
Simon Le Cleac'h, Taylor A. Howell, Shuo Yang, Chi-Yen Lee, John Z. Zhang, Arun L. Bishop, Mac Schwager, Zachary Manchester
2024 J jnl
From Pixels to Torques with Linear Feedback.
CoRR
Jeong Hun Lee, Sam Schoedel, Aditya Bhardwaj, Zachary Manchester
2024 A* conf
From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers.
CVPR
Swaminathan Gurumurthy, Karnik Ram, Bingqing Chen, Zachary Manchester, Zico Kolter
2024 J jnl
From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers.
CoRR
Swaminathan Gurumurthy, Karnik Ram, Bingqing Chen, Zachary Manchester, Zico Kolter
2024 A* conf
Learning Covariances for Estimation with Constrained Bilevel Optimization.
ICRA
Mohamad Qadri, Zachary Manchester, Michael Kaess
2024 J jnl
Optimal Attitude Control of Large Flexible Space Structures with Distributed Momentum Actuators.
CoRR
Pedro Rocha Cachim, Will Kraus, Zachary Manchester, Pedro Lourenço, Rodrigo M. M. Ventura
2024 — conf
Optimal Control for a Shape Memory Alloy Actuated Soft Digit using Iterative Learning Control.
RoboSoft
Richard Desatnik, Mikhail Khrenov, Zachary Manchester, Philip R. Leduc, Carmel Majidi
2024 J jnl
PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System.
CoRR
Jon Arrizabalaga, Fausto Vega, Zbynek Sír, Zachary Manchester, Markus Ryll
2024 A* conf
ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control.
ICRA
Arun L. Bishop, John Z. Zhang, Swaminathan Gurumurthy, Kevin Tracy, Zachary Manchester
2024 J jnl
Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control.
CoRR
Juan Alvarez-Padilla, John Z. Zhang, Sofia Kwok, John M. Dolan, Zachary Manchester
2024 J jnl
Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots.
CoRR
Zixin Zhang, John Z. Zhang, Shuo Yang, Zachary Manchester
2024 A* conf
TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers.
ICRA
Khai Nguyen, Sam Schoedel, Anoushka Alavilli, Brian Plancher, Zachary Manchester
2024 A* conf
VINSat: Solving the Lost-in-Space Problem with Visual-Inertial Navigation.
ICRA
Kyle McCleary, Swaminathan Gurumurthy, Paulo R. M. Fisch, Saral Tayal, Zachary Manchester, Brandon Lucia
2024 J jnl
Wallbounce : Push wall to navigate with Contact-Implicit MPC.
CoRR
Xiaohan Liu, Cunxi Dai, John Z. Zhang, Arun L. Bishop, Zachary Manchester, Ralph Hollis
2023 A* conf
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications.
ICRA
Jeong Hun Lee, Mike Yan Michelis, Robert K. Katzschmann, Zachary Manchester
2023 J jnl
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications.
CoRR
Jeong Hun Lee, Mike Yan Michelis, Robert K. Katzschmann, Zachary Manchester
2023 A* conf
Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion.
ICRA
Shuo Yang, Zixin Zhang, Zhengyu Fu, Zachary Manchester
2023 — conf
Deep Off-Policy Iterative Learning Control.
L4DC
Swaminathan Gurumurthy, J. Zico Kolter, Zachary Manchester
2023 A* conf
Differentiable Collision Detection for a Set of Convex Primitives.
ICRA
Kevin Tracy, Taylor A. Howell, Zachary Manchester
2023 J jnl
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects.
IEEE Robotics Autom. Lett.
Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo, Taylor A. Howell, Ruohan Gao, Jiajun Wu, Zachary Manchester, Mac Schwager
2023 Misc conf
Direct Collocation for Quantum Optimal Control.
QCE
Aaron Trowbridge, Aditya Bhardwaj, Kevin He, David I. Schuster, Zachary Manchester
2023 J jnl
Efficient Online Learning of Contact Force Models for Connector Insertion.
CoRR
Kevin Tracy, Zachary Manchester, Ajinkya Jain, Keegan Go, Stefan Schaal, Tom Erez, Yuval Tassa
2023 A* conf
Enhanced Balance for Legged Robots Using Reaction Wheels.
ICRA
Chi-Yen Lee, Shuo Yang, Benjamin Bokser, Zachary Manchester
2023 J jnl
Learning Covariances for Estimation with Constrained Bilevel Optimization.
CoRR
Mohamad Qadri, Zachary Manchester, Michael Kaess
2023 A conf
Multi-IMU Proprioceptive Odometry for Legged Robots.
IROS
Shuo Yang, Zixin Zhang, Benjamin Bokser, Zachary Manchester
2023 A* conf
PPR: Physically Plausible Reconstruction from Monocular Videos.
ICCV
Gengshan Yang, Shuo Yang, John Z. Zhang, Zachary Manchester, Deva Ramanan
2023 — conf
Practical Critic Gradient based Actor Critic for On-Policy Reinforcement Learning.
L4DC
Swaminathan Gurumurthy, Zachary Manchester, J. Zico Kolter
2023 — conf
Propulsion-Free Cross-Track Control of a LEO Small-Satellite Constellation with Differential Drag.
CDC
Giusy Falcone, Jacob B. Willis, Zachary Manchester
2023 J jnl
Propulsion-Free Cross-Track Control of a LEO Small-Satellite Constellation with Differential Drag.
CoRR
Giusy Falcone, Jacob B. Willis, Zachary Manchester
2023 J jnl
ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control.
CoRR
Arun L. Bishop, John Z. Zhang, Swaminathan Gurumurthy, Kevin Tracy, Zachary Manchester
2023 J jnl
SLoMo: A General System for Legged Robot Motion Imitation From Casual Videos.
IEEE Robotics Autom. Lett.
John Z. Zhang, Shuo Yang, Gengshan Yang, Arun L. Bishop, Swaminathan Gurumurthy, Deva Ramanan, Zachary Manchester
2023 J jnl
SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos.
CoRR
John Z. Zhang, Shuo Yang, Gengshan Yang, Arun L. Bishop, Deva Ramanan, Zachary Manchester
2023 J jnl
Single-Level Differentiable Contact Simulation.
IEEE Robotics Autom. Lett.
Simon Le Cleac'h, Mac Schwager, Zachary Manchester, Vikas Sindhwani, Pete Florence, Sumeet Singh
2023 J jnl
TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers.
CoRR
Anoushka Alavilli, Khai Nguyen, Sam Schoedel, Brian Plancher, Zachary Manchester
2023 J jnl
Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates.
CoRR
Jan Brüdigam, Stefan Sosnowski, Zachary Manchester, Sandra Hirche
2022 J jnl
ALGAMES: a fast augmented Lagrangian solver for constrained dynamic games.
Auton. Robots
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
2022 C conf
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints.
ISRR
Taylor A. Howell, Kevin Tracy, Simon Le Cleac'h, Zachary Manchester
2022 J jnl
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints.
CoRR
Taylor A. Howell, Simon Le Cleac'h, Kevin Tracy, Zachary Manchester
2022 J jnl
Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion.
CoRR
Shuo Yang, Zixin Zhang, Zhengyu Fu, Zachary Manchester
2022 Misc conf
Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition.
CoRL
Brian Edward Jackson, Jeong Hun Lee, Kevin Tracy, Zachary Manchester
2022 J jnl
Data-Efficient Model Learning for Model Predictive Control with Jacobian-Regularized Dynamic Mode Decomposition.
CoRR
Brian E. Jackson, Jeong Hun Lee, Kevin Tracy, Zachary Manchester
2022 J jnl
DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons.
CoRR
Kevin Tracy, Taylor A. Howell, Zachary Manchester
2022 J jnl
Differentiable Collision Detection for a Set of Convex Primitives.
CoRR
Kevin Tracy, Taylor A. Howell, Zachary Manchester
2022 J jnl
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects.
CoRR
Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo, Taylor A. Howell, Ruohan Gao, Jiajun Wu, Zachary Manchester, Mac Schwager
2022 J jnl
Dojo: A Differentiable Simulator for Robotics.
CoRR
Taylor A. Howell, Simon Le Cleac'h, J. Zico Kolter, Mac Schwager, Zachary Manchester
2022 J jnl
Dynamic Biasing for Improved On-Orbit Total-Dose Lifetimes of Commercial Electronic Devices.
IEEE Trans. Aerosp. Electron. Syst.
Maximillian Holliday, Thomas A. Heuser, Zachary Manchester, Debbie G. Senesky
2022 J jnl
Low-latency Imaging and Inference from LoRa-enabled CubeSats.
CoRR
Akshay Gadre, Swarun Kumar, Zachary Manchester
2022 J jnl
On-Orbit Implementation of Discrete Isolation Schemes for Improved Reliability of Serial Communication Buses.
IEEE Trans. Aerosp. Electron. Syst.
Maximillian Holliday, Zachary Manchester, Debbie G. Senesky
2022 J jnl
Online Kinematic Calibration for Legged Robots.
IEEE Robotics Autom. Lett.
Shuo Yang, Howie Choset, Zachary Manchester
2022 J jnl
Single-Level Differentiable Contact Simulation.
CoRR
Simon Le Cleac'h, Mac Schwager, Zachary Manchester, Vikas Sindhwani, Pete Florence, Sumeet Singh
2022 J jnl
Trajectory Optimization with Optimization-Based Dynamics.
IEEE Robotics Autom. Lett.
Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh, Peter R. Florence, Zachary Manchester, Vikas Sindhwani
2021 J jnl
ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games.
CoRR
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
2021 A* conf
ALTRO-C: A Fast Solver for Conic Model-Predictive Control.
ICRA
Brian E. Jackson, Tarun Punnoose, Daniel Neamati, Kevin Tracy, Rianna M. Jitosho, Zachary Manchester
2021 J jnl
Computational Nanosatellite Constellations: Opportunities and Challenges.
GetMobile Mob. Comput. Commun.
Brandon Lucia, Brad Denby, Zachary Manchester, Harsh Desai, Emily Ruppel, Alexei Colin
2021 J jnl
Direct Policy Optimization Using Deterministic Sampling and Collocation.
IEEE Robotics Autom. Lett.
Taylor A. Howell, Chunjiang Fu, Zachary Manchester
2021 A* conf
Joint inference and input optimization in equilibrium networks.
NeurIPS
Swaminathan Gurumurthy, Shaojie Bai, Zachary Manchester, J. Zico Kolter
2021 J jnl
Joint inference and input optimization in equilibrium networks.
CoRR
Swaminathan Gurumurthy, Shaojie Bai, Zachary Manchester, J. Zico Kolter
2021 J jnl
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning.
IEEE Robotics Autom. Lett.
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
2021 J jnl
Linear Contact-Implicit Model-Predictive Control.
CoRR
Simon Le Cleac'h, Taylor A. Howell, Mac Schwager, Zachary Manchester
2021 A* conf
Linear-Quadratic Optimal Control in Maximal Coordinates.
ICRA
Jan Brüdigam, Zachary Manchester
2021 C conf
Linear-Time Variational Integrators in Maximal Coordinates.
WAFR
Jan Brüdigam, Zachary Manchester
2021 J jnl
Planning With Attitude.
IEEE Robotics Autom. Lett.
Brian E. Jackson, Kevin Tracy, Zachary Manchester
2021 J jnl
Training Structured Mechanical Models by Minimizing Discrete Euler-Lagrange Residual.
CoRR
Kunal Menda, Jayesh K. Gupta, Zachary Manchester, Mykel J. Kochenderfer
2021 J jnl
Trajectory Optimization with Optimization-Based Dynamics.
CoRR
Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh, Pete Florence, Zachary Manchester, Vikas Sindhwani
2020 — conf
ALGAMES: A Fast Solver for Constrained Dynamic Games.
Robotics: Science and Systems
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
2020 J jnl
Direct Policy Optimization using Deterministic Sampling and Collocation.
CoRR
Taylor A. Howell, Chunjiang Fu, Zachary Manchester
2020 J jnl
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning.
CoRR
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
2020 J jnl
Linear-Time Variational Integrators in Maximal Coordinates.
CoRR
Jan Brüdigam, Zachary Manchester
2020 J jnl
Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels.
CoRR
Remy Derollez, Simon Le Cleac'h, Zachary Manchester
2020 J jnl
Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization.
IEEE Robotics Autom. Lett.
Brian E. Jackson, Taylor A. Howell, Kunal Shah, Mac Schwager, Zachary Manchester
2020 A* conf
Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM.
ICML
Kunal Menda, Jean de Becdelièvre, Jayesh K. Gupta, Ilan Kroo, Mykel J. Kochenderfer, Zachary Manchester
2020 J jnl
Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM.
CoRR
Kunal Menda, Jean de Becdelièvre, Jayesh K. Gupta, Ilan Kroo, Mykel J. Kochenderfer, Zachary Manchester
2020 — conf
Structured Mechanical Models for Robot Learning and Control.
L4DC
Jayesh K. Gupta, Kunal Menda, Zachary Manchester, Mykel J. Kochenderfer
2020 J jnl
Structured Mechanical Models for Robot Learning and Control.
CoRR
Jayesh K. Gupta, Kunal Menda, Zachary Manchester, Mykel J. Kochenderfer
2019 — conf
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization.
Robotics: Science and Systems
Benoit Landry, Zachary Manchester, Marco Pavone
2019 J jnl
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization.
CoRR
Benoit Landry, Zachary Manchester, Marco Pavone
2019 J jnl
A General Framework for Structured Learning of Mechanical Systems.
CoRR
Jayesh K. Gupta, Kunal Menda, Zachary Manchester, Mykel J. Kochenderfer
2019 J jnl
ALGAMES: A Fast Solver for Constrained Dynamic Games.
CoRR
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
2019 A conf
ALTRO: A Fast Solver for Constrained Trajectory Optimization.
IROS
Taylor A. Howell, Brian E. Jackson, Zachary Manchester
2019 C conf
Bilevel Optimization for Planning Through Contact: A Semidirect Method.
ISRR
Benoit Landry, Joseph Lorenzetti, Zachary Manchester, Marco Pavone
2019 J jnl
Bilevel Optimization for Planning through Contact: A Semidirect Method.
CoRR
Benoit Landry, Joseph Lorenzetti, Zachary Manchester, Marco Pavone
2019 J jnl
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot.
CoRR
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Robert J. Wood, Scott Kuindersma
2019 J jnl
Contact-implicit trajectory optimization using variational integrators.
Int. J. Robotics Res.
Zachary Manchester, Neel Doshi, Robert J. Wood, Scott Kuindersma
2019 J jnl
Robust direct trajectory optimization using approximate invariant funnels.
Auton. Robots
Zachary Manchester, Scott Kuindersma
2018 — conf
Bio-inspired Position Control of Satellite Constellations.
DARS
Michael Rubenstein, Zachary Manchester
2018 — conf
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot.
Robotics: Science and Systems
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Robert J. Wood, Scott Kuindersma
2017 A conf
Constrained unscented dynamic programming.
IROS
Brian Plancher, Zachary Manchester, Scott Kuindersma
2017 — conf
DIRTREL: Robust Trajectory Optimization with Ellipsoidal Disturbances and LQR Feedback.
Robotics: Science and Systems
Zachary Manchester, Scott Kuindersma
2017 A* conf
Planning cuts for mobile robots with bladed tools.
ICRA
Jeffrey I. Lipton, Zachary Manchester, Daniela Rus
2017 C conf
Variational Contact-Implicit Trajectory Optimization.
ISRR
Zachary Manchester, Scott Kuindersma
2016 — conf
Derivative-free trajectory optimization with unscented dynamic programming.
CDC
Zachary Manchester, Scott Kuindersma