ALGAMES: A Fast Solver for Constrained Dynamic Games. - Simon Le Cleac'h; Mac Schwager; Zachary Manchester (Robotics: Science and Systems, 2020)

Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels. - Remy Derollez; Simon Le Cleac'h; Zachary Manchester (CoRR, 2020)

Linear Contact-Implicit Model-Predictive Control. - Simon Le Cleac'h; Taylor A. Howell; Mac Schwager; Zachary Manchester (CoRR, 2021)

LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning. - Simon Le Cleac'h; Mac Schwager; Zachary Manchester (IEEE Robotics Autom. Lett., 2021)

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)

ALGAMES: a fast augmented Lagrangian solver for constrained dynamic games. - Simon Le Cleac'h; Mac Schwager; Zachary Manchester (Auton. Robots, 2022)

Dojo: A Differentiable Simulator for Robotics. - Taylor A. Howell; Simon Le Cleac'h; J. Zico Kolter; Mac Schwager; Zachary Manchester (CoRR, 2022)

Trajectory Optimization with Optimization-Based Dynamics. - Taylor A. Howell; Simon Le Cleac'h; Sumeet Singh; Peter R. Florence; Zachary Manchester; Vikas Sindhwani (IEEE Robotics Autom. Lett., 2022)

Differentiable Physics Simulation of Dynamics-Augmented Neural Objects. - Simon Le Cleac'h; Hong-Xing Yu; Michelle Guo; Taylor A. Howell; Ruohan Gao; Jiajun Wu 001; Zachary Manchester; Mac Schwager (IEEE Robotics Autom. Lett., 2023)

Single-Level Differentiable Contact Simulation. - Simon Le Cleac'h; Mac Schwager; Zachary Manchester; Vikas Sindhwani; Pete Florence; Sumeet Singh (IEEE Robotics Autom. Lett., 2023)

Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation. - Jan Brüdigam; Ali-Adeeb Abbas; Maks Sorokin; Kuan Fang; Brandon Hung; Maya Guru; Stefan Sosnowski; Jiuguang Wang; Sandra Hirche; Simon Le Cleac'h (CoRL, 2024)

Fast Contact-Implicit Model Predictive Control. - Simon Le Cleac'h; Taylor A. Howell; Shuo Yang; Chi-Yen Lee; John Z. Zhang; Arun L. Bishop; Mac Schwager; Zachary Manchester (IEEE Trans. Robotics, 2024)

Versatile Loco-Manipulation through Flexible Interlimb Coordination. - Xinghao Zhu; Yuxin Chen; Lingfeng Sun; Farzad Niroui; Simon Le Cleac'h; Jiuguang Wang; Kuan Fang (CoRR, 2025)

Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control. - Albert H. Li; Brandon Hung; Aaron D. Ames; Jiuguang Wang; Simon Le Cleac'h; Preston Culbertson (CoRR, 2025)