ALTRO-C: A Fast Solver for Conic Model-Predictive Control. - Brian E. Jackson; Tarun Punnoose; Daniel Neamati; Kevin Tracy; Rianna M. Jitosho; Zachary Manchester (ICRA, 2021)

Planning With Attitude. - Brian E. Jackson; Kevin Tracy; Zachary Manchester (IEEE Robotics Autom. Lett., 2021)

Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition. - Brian Edward Jackson; Jeong Hun Lee; Kevin Tracy; Zachary Manchester (CoRL, 2022)

CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints. - Taylor A. Howell; Kevin Tracy; Simon Le Cleac'h; Zachary Manchester (ISRR, 2022)

DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons. - Kevin Tracy; Taylor A. Howell; Zachary Manchester (CoRR, 2022)

A Square-Root Kalman Filter Using Only QR Decompositions. - Kevin Tracy (CoRR, 2022)

Data-Efficient Model Learning for Model Predictive Control with Jacobian-Regularized Dynamic Mode Decomposition. - Brian E. Jackson; Jeong Hun Lee; Kevin Tracy; Zachary Manchester (CoRR, 2022)

Differentiable Collision Detection for a Set of Convex Primitives. - Kevin Tracy; Taylor A. Howell; Zachary Manchester (ICRA, 2023)

Efficient Online Learning of Contact Force Models for Connector Insertion. - Kevin Tracy; Zachary Manchester; Ajinkya Jain; Keegan Go; Stefan Schaal; Tom Erez; Yuval Tassa (CoRR, 2023)

ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control. - Arun L. Bishop; John Z. Zhang; Swaminathan Gurumurthy; Kevin Tracy; Zachary Manchester (ICRA, 2024)