ALTRO: A Fast Solver for Constrained Trajectory Optimization. - Taylor A. Howell; Brian E. Jackson; Zachary Manchester (IROS, 2019)

Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization. - Brian E. Jackson; Taylor A. Howell; Kunal Shah; Mac Schwager; Zachary Manchester (IEEE Robotics Autom. Lett., 2020)

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

Direct Policy Optimization Using Deterministic Sampling and Collocation. - Taylor A. Howell; Chunjiang Fu; 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)

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

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

RoboPianist: A Benchmark for High-Dimensional Robot Control. - Kevin Zakka; Laura M. Smith; Nimrod Gileadi; Taylor A. Howell; Xue Bin Peng; Sumeet Singh; Yuval Tassa; Pete Florence; Andy Zeng 001; Pieter Abbeel (CoRR, 2023)

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)

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)

Whole-Body Model-Predictive Control of Legged Robots with MuJoCo. - John Z. Zhang; Taylor A. Howell; Zeji Yi; Chaoyi Pan; Guanya Shi; Guannan Qu; Tom Erez; Yuval Tassa; Zachary Manchester (CoRR, 2025)