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Zachary Manchester
Zac Manchester
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2020 – today
- 2024
- [j17]Simon Le Cleac'h
, Taylor A. Howell
Fast Contact-Implicit Model Predictive Control. IEEE Trans. Robotics 40: 1617-1629 (2024) - [c36]Swaminathan Gurumurthy, Karnik Ram, Bingqing Chen, Zachary Manchester, Zico Kolter:
From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers. CVPR 2024: 27497-27506 - [c35]Khai Nguyen, Sam Schoedel, Anoushka Alavilli, Brian Plancher, Zachary Manchester:
TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers. ICRA 2024: 1-7 - [c34]Kyle McCleary, Swaminathan Gurumurthy, Paulo R. M. Fisch, Saral Tayal, Zachary Manchester, Brandon Lucia:
VINSat: Solving the Lost-in-Space Problem with Visual-Inertial Navigation. ICRA 2024: 11774-11780 - [c33]Arun L. Bishop, John Z. Zhang, Swaminathan Gurumurthy, Kevin Tracy, Zachary Manchester:
ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control. ICRA 2024: 13285-13292 - [c32]Mohamad Qadri, Zachary Manchester, Michael Kaess:
Learning Covariances for Estimation with Constrained Bilevel Optimization. ICRA 2024: 15951-15957 - [c31]Richard Desatnik, Mikhail Khrenov, Zachary Manchester, Philip R. Leduc, Carmel Majidi:
Optimal Control for a Shape Memory Alloy Actuated Soft Digit using Iterative Learning Control. RoboSoft 2024: 48-54 - [i46]Sam Schoedel, Khai Nguyen, Elakhya Nedumaran, Brian Plancher, Zachary Manchester:
Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC. CoRR abs/2403.18149 (2024) - [i45]Ibrahima Sory Sow, Geordan Gutow, Howie Choset, Zachary Manchester:
A Convex Formulation of the Soft-Capture Problem. CoRR abs/2405.00867 (2024) - [i44]Fausto Vega, Zachary Manchester, Martin Lo, Ricardo Restrepo:
Contingency-Aware Station-Keeping Control of Halo Orbits. CoRR abs/2405.20458 (2024) - [i43]Swaminathan Gurumurthy, Karnik Ram, Bingqing Chen, Zachary Manchester, Zico Kolter:
From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers. CoRR abs/2406.07785 (2024) - [i42]Jeong Hun Lee, Sam Schoedel, Aditya Bhardwaj, Zachary Manchester:
From Pixels to Torques with Linear Feedback. CoRR abs/2406.18699 (2024) - [i41]Jacob B. Willis, Paulo R. M. Fisch, Aleksei Seletskiy, Zachary Manchester:
Building a Better B-Dot: Fast Detumbling with Non-Monotonic Lyapunov Functions. CoRR abs/2407.02724 (2024) - [i40]Jon Arrizabalaga, Zachary Manchester, Markus Ryll:
Differentiable Collision-Free Parametric Corridors. CoRR abs/2407.12283 (2024) - [i39]Zixin Zhang, John Z. Zhang, Shuo Yang, Zachary Manchester:
Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots. CoRR abs/2409.09940 (2024) - [i38]Juan Alvarez-Padilla, John Z. Zhang, Sofia Kwok, John M. Dolan, Zachary Manchester:
Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control. CoRR abs/2409.10469 (2024) - [i37]Pedro Rocha Cachim, Will Kraus, Zachary Manchester, Pedro Lourenço, Rodrigo M. M. Ventura:
Optimal Attitude Control of Large Flexible Space Structures with Distributed Momentum Actuators. CoRR abs/2410.07376 (2024) - [i36]Jon Arrizabalaga, Fausto Vega, Zbynek SÍR, Zachary Manchester, Markus Ryll:
PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System. CoRR abs/2410.07750 (2024) - [i35]Xiaohan Liu, Cunxi Dai, John Z. Zhang, Arun L. Bishop, Zachary Manchester, Ralph Hollis:
Wallbounce : Push wall to navigate with Contact-Implicit MPC. CoRR abs/2411.01387 (2024) - 2023
- [j16]Zac Manchester
Space: The Ultimate Computational Edge. IEEE Pervasive Comput. 22(2): 43-48 (2023) - [j15]Simon Le Cleac'h
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects. IEEE Robotics Autom. Lett. 8(5): 2780-2787 (2023) - [j14]Simon Le Cleac'h
Single-Level Differentiable Contact Simulation. IEEE Robotics Autom. Lett. 8(7): 4012-4019 (2023) - [j13]John Z. Zhang
SLoMo: A General System for Legged Robot Motion Imitation From Casual Videos. IEEE Robotics Autom. Lett. 8(11): 7154-7161 (2023) - [c30]Giusy Falcone, Jacob B. Willis, Zachary Manchester:
Propulsion-Free Cross-Track Control of a LEO Small-Satellite Constellation with Differential Drag. CDC 2023: 8738-8744 - [c29]Gengshan Yang, Shuo Yang, John Z. Zhang, Zachary Manchester, Deva Ramanan:
PPR: Physically Plausible Reconstruction from Monocular Videos. ICCV 2023: 3891-3901 - [c28]Kevin Tracy, Taylor A. Howell, Zachary Manchester
Differentiable Collision Detection for a Set of Convex Primitives. ICRA 2023: 3663-3670 - [c27]Shuo Yang, Zixin Zhang, Zhengyu Fu, Zachary Manchester:
Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion. ICRA 2023: 4193-4199 - [c26]Chi-Yen Lee, Shuo Yang, Benjamin Bokser, Zachary Manchester:
Enhanced Balance for Legged Robots Using Reaction Wheels. ICRA 2023: 9980-9987 - [c25]Jeong Hun Lee, Mike Yan Michelis
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications. ICRA 2023: 11272-11279 - [c24]Shuo Yang, Zixin Zhang, Benjamin Bokser, Zachary Manchester:
Multi-IMU Proprioceptive Odometry for Legged Robots. IROS 2023: 774-779 - [c23]Swaminathan Gurumurthy, Zachary Manchester, J. Zico Kolter:
Practical Critic Gradient based Actor Critic for On-Policy Reinforcement Learning. L4DC 2023: 625-638 - [c22]Swaminathan Gurumurthy, J. Zico Kolter, Zachary Manchester:
Deep Off-Policy Iterative Learning Control. L4DC 2023: 639-652 - [c21]Aaron Trowbridge, Aditya Bhardwaj, Kevin He, David I. Schuster
Direct Collocation for Quantum Optimal Control. QCE 2023: 1278-1285 - [i34]Jeong Hun Lee, Mike Yan Michelis, Robert K. Katzschmann
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications. CoRR abs/2301.07028 (2023) - [i33]Jan Brüdigam, Stefan Sosnowski, Zachary Manchester, Sandra Hirche:
Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates. CoRR abs/2302.05979 (2023) - [i32]John Z. Zhang, Shuo Yang, Gengshan Yang, Arun L. Bishop, Deva Ramanan, Zachary Manchester:
SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos. CoRR abs/2304.14389 (2023) - [i31]Giusy Falcone, Jacob B. Willis, Zachary Manchester:
Propulsion-Free Cross-Track Control of a LEO Small-Satellite Constellation with Differential Drag. CoRR abs/2306.13844 (2023) - [i30]Mohamad Qadri, Zachary Manchester, Michael Kaess:
Learning Covariances for Estimation with Constrained Bilevel Optimization. CoRR abs/2309.09718 (2023) - [i29]Anoushka Alavilli, Khai Nguyen
TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers. CoRR abs/2310.16985 (2023) - [i28]Arun L. Bishop, John Z. Zhang, Swaminathan Gurumurthy, Kevin Tracy, Zachary Manchester:
ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control. CoRR abs/2311.18056 (2023) - [i27]Kevin Tracy, Zachary Manchester, Ajinkya Jain, Keegan Go, Stefan Schaal, Tom Erez, Yuval Tassa:
Efficient Online Learning of Contact Force Models for Connector Insertion. CoRR abs/2312.09190 (2023) - 2022
- [j12]Simon Le Cleac'h
ALGAMES: a fast augmented Lagrangian solver for constrained dynamic games. Auton. Robots 46(1): 201-215 (2022) - [j11]Taylor A. Howell
Trajectory Optimization with Optimization-Based Dynamics. IEEE Robotics Autom. Lett. 7(3): 6750-6757 (2022) - [j10]Shuo Yang
Online Kinematic Calibration for Legged Robots. IEEE Robotics Autom. Lett. 7(3): 8178-8185 (2022) - [j9]Maximillian Holliday
On-Orbit Implementation of Discrete Isolation Schemes for Improved Reliability of Serial Communication Buses. IEEE Trans. Aerosp. Electron. Syst. 58(4): 2973-2982 (2022) - [j8]Maximillian Holliday
Dynamic Biasing for Improved On-Orbit Total-Dose Lifetimes of Commercial Electronic Devices. IEEE Trans. Aerosp. Electron. Syst. 58(4): 3326-3336 (2022) - [c20]Brian Edward Jackson, Jeong Hun Lee, Kevin Tracy, Zachary Manchester:
Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition. CoRL 2022: 2273-2283 - [c19]Taylor A. Howell, Kevin Tracy, Simon Le Cleac'h, Zachary Manchester
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints. ISRR 2022: 504-521 - [i26]Taylor A. Howell, Simon Le Cleac'h, J. Zico Kolter, Mac Schwager, Zachary Manchester:
Dojo: A Differentiable Simulator for Robotics. CoRR abs/2203.00806 (2022) - [i25]Taylor A. Howell, Simon Le Cleac'h, Kevin Tracy, Zachary Manchester:
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints. CoRR abs/2205.09255 (2022) - [i24]Akshay Gadre, Swarun Kumar
Low-latency Imaging and Inference from LoRa-enabled CubeSats. CoRR abs/2206.10703 (2022) - [i23]Kevin Tracy, Taylor A. Howell, Zachary Manchester:
DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons. CoRR abs/2207.00202 (2022) - [i22]Kevin Tracy, Taylor A. Howell, Zachary Manchester:
Differentiable Collision Detection for a Set of Convex Primitives. CoRR abs/2207.00669 (2022) - [i21]Shuo Yang, Zixin Zhang, Zhengyu Fu, Zachary Manchester:
Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion. CoRR abs/2209.07654 (2022) - [i20]Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo, Taylor A. Howell, Ruohan Gao, Jiajun Wu, Zachary Manchester, Mac Schwager:
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects. CoRR abs/2210.09420 (2022) - [i19]Simon Le Cleac'h, Mac Schwager, Zachary Manchester, Vikas Sindhwani, Pete Florence, Sumeet Singh:
Single-Level Differentiable Contact Simulation. CoRR abs/2212.06764 (2022) - [i18]Brian E. Jackson, Jeong Hun Lee, Kevin Tracy, Zachary Manchester:
Data-Efficient Model Learning for Model Predictive Control with Jacobian-Regularized Dynamic Mode Decomposition. CoRR abs/2212.07885 (2022) - 2021
- [j7]Taylor A. Howell
Direct Policy Optimization Using Deterministic Sampling and Collocation. IEEE Robotics Autom. Lett. 6(3): 5324-5331 (2021) - [j6]Simon Le Cleac'h
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning. IEEE Robotics Autom. Lett. 6(3): 5485-5492 (2021) - [j5]Brian E. Jackson
Planning With Attitude. IEEE Robotics Autom. Lett. 6(3): 5658-5664 (2021) - [j4]Brandon Lucia, Brad Denby, Zachary Manchester, Harsh Desai, Emily Ruppel, Alexei Colin:
Computational Nanosatellite Constellations: Opportunities and Challenges. GetMobile Mob. Comput. Commun. 25(1): 16-23 (2021) - [c18]Brian E. Jackson, Tarun Punnoose, Daniel Neamati
ALTRO-C: A Fast Solver for Conic Model-Predictive Control. ICRA 2021: 7357-7364 - [c17]Jan Brüdigam, Zachary Manchester:
Linear-Quadratic Optimal Control in Maximal Coordinates. ICRA 2021: 9775-9781 - [c16]Rianna M. Jitosho, Nathaniel Agharese, Allison M. Okamura
A Dynamics Simulator for Soft Growing Robots. ICRA 2021: 11775-11781 - [c15]Swaminathan Gurumurthy, Shaojie Bai, Zachary Manchester, J. Zico Kolter:
Joint inference and input optimization in equilibrium networks. NeurIPS 2021: 16818-16832 - [c14]Jan Brüdigam, Zachary Manchester:
Linear-Time Variational Integrators in Maximal Coordinates. WAFR 2021: 194-209 - [i17]Simon Le Cleac'h, Mac Schwager, Zachary Manchester:
ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games. CoRR abs/2104.08452 (2021) - [i16]Kunal Menda, Jayesh K. Gupta, Zachary Manchester, Mykel J. Kochenderfer:
Training Structured Mechanical Models by Minimizing Discrete Euler-Lagrange Residual. CoRR abs/2105.01811 (2021) - [i15]Simon Le Cleac'h, Taylor A. Howell, Mac Schwager, Zachary Manchester:
Linear Contact-Implicit Model-Predictive Control. CoRR abs/2107.05616 (2021) - [i14]Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh, Pete Florence, Zachary Manchester, Vikas Sindhwani:
Trajectory Optimization with Optimization-Based Dynamics. CoRR abs/2109.04928 (2021) - [i13]Swaminathan Gurumurthy, Shaojie Bai, Zachary Manchester, J. Zico Kolter:
Joint inference and input optimization in equilibrium networks. CoRR abs/2111.13236 (2021) - 2020
- [j3]Brian E. Jackson, Taylor A. Howell
Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization. IEEE Robotics Autom. Lett. 5(2): 3368-3374 (2020) - [c13]Kunal Menda, Jean de Becdelièvre, Jayesh K. Gupta, Ilan Kroo, Mykel J. Kochenderfer, Zachary Manchester:
Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM. ICML 2020: 6830-6840 - [c12]Jayesh K. Gupta, Kunal Menda, Zachary Manchester, Mykel J. Kochenderfer:
Structured Mechanical Models for Robot Learning and Control. L4DC 2020: 328-337 - [c11]Simon Le Cleac'h, Mac Schwager, Zachary Manchester:
ALGAMES: A Fast Solver for Constrained Dynamic Games. Robotics: Science and Systems 2020 - [d1]Kunal Menda
Normalized Stanford Helicopter Dataset. Zenodo, 2020 - [i12]Jan Brüdigam
Linear-Time Variational Integrators in Maximal Coordinates. CoRR abs/2002.11245 (2020) - [i11]Jayesh K. Gupta, Kunal Menda, Zachary Manchester, Mykel J. Kochenderfer:
Structured Mechanical Models for Robot Learning and Control. CoRR abs/2004.10301 (2020) - [i10]Kunal Menda, Jean de Becdelièvre, Jayesh K. Gupta, Ilan Kroo, Mykel J. Kochenderfer, Zachary Manchester:
Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM. CoRR abs/2006.11615 (2020) - [i9]Taylor A. Howell, Chunjiang Fu, Zachary Manchester:
Direct Policy Optimization using Deterministic Sampling and Collocation. CoRR abs/2010.08506 (2020) - [i8]Rianna M. Jitosho, Nathaniel Agharese, Allison M. Okamura, Zac Manchester:
A Dynamics Simulator for Soft Growing Robots. CoRR abs/2011.01917 (2020) - [i7]Remy Derollez, Simon Le Cleac'h, Zachary Manchester:
Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels. CoRR abs/2011.02441 (2020) - [i6]Simon Le Cleac'h, Mac Schwager, Zachary Manchester:
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning. CoRR abs/2011.08152 (2020)
2010 – 2019
- 2019
- [j2]Zachary Manchester
Robust direct trajectory optimization using approximate invariant funnels. Auton. Robots 43(2): 375-387 (2019) - [j1]Zachary Manchester
Contact-implicit trajectory optimization using variational integrators. Int. J. Robotics Res. 38(12-13) (2019) - [c10]Taylor A. Howell, Brian E. Jackson, Zachary Manchester
ALTRO: A Fast Solver for Constrained Trajectory Optimization. IROS 2019: 7674-7679 - [c9]Benoit Landry, Joseph Lorenzetti, Zachary Manchester, Marco Pavone
Bilevel Optimization for Planning Through Contact: A Semidirect Method. ISRR 2019: 789-804 - [c8]Benoit Landry, Zachary Manchester, Marco Pavone:
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization. Robotics: Science and Systems 2019 - [i5]Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Robert J. Wood, Scott Kuindersma:
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot. CoRR abs/1901.09065 (2019) - [i4]Benoit Landry, Zachary Manchester, Marco Pavone:
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization. CoRR abs/1902.03319 (2019) - [i3]Jayesh K. Gupta, Kunal Menda, Zachary Manchester, Mykel J. Kochenderfer:
A General Framework for Structured Learning of Mechanical Systems. CoRR abs/1902.08705 (2019) - [i2]Benoit Landry, Joseph Lorenzetti, Zachary Manchester, Marco Pavone:
Bilevel Optimization for Planning through Contact: A Semidirect Method. CoRR abs/1906.04292 (2019) - [i1]Simon Le Cleac'h, Mac Schwager, Zachary Manchester:
ALGAMES: A Fast Solver for Constrained Dynamic Games. CoRR abs/1910.09713 (2019) - 2018
- [c7]Michael Rubenstein, Zachary Manchester:
Bio-inspired Position Control of Satellite Constellations. DARS 2018: 441-450 - [c6]Neel Doshi, Kaushik Jayaram
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot. Robotics: Science and Systems 2018 - 2017
- [c5]Jeffrey I. Lipton, Zachary Manchester, Daniela Rus:
Planning cuts for mobile robots with bladed tools. ICRA 2017: 572-579 - [c4]Brian Plancher
Constrained unscented dynamic programming. IROS 2017: 5674-5680 - [c3]Zachary Manchester, Scott Kuindersma:
Variational Contact-Implicit Trajectory Optimization. ISRR 2017: 985-1000 - [c2]Zachary Manchester, Scott Kuindersma:
DIRTREL: Robust Trajectory Optimization with Ellipsoidal Disturbances and LQR Feedback. Robotics: Science and Systems 2017 - 2016
- [c1]Zachary Manchester, Scott Kuindersma:
Derivative-free trajectory optimization with unscented dynamic programming. CDC 2016: 3642-3647
Coauthor Index
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last updated on 2024-12-12 20:59 CET by the dblp team
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