Zachary Manchester

Orcid: 0000-0002-3071-7091

According to our database1, Zachary Manchester authored at least 61 papers between 2016 and 2024.

Collaborative distances:
  • Dijkstra number2 of four.
  • Erdős number3 of four.

Timeline

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Links

On csauthors.net:

Bibliography

2024
Fast Contact-Implicit Model Predictive Control.
IEEE Trans. Robotics, 2024

2023
SLoMo: A General System for Legged Robot Motion Imitation From Casual Videos.
IEEE Robotics Autom. Lett., November, 2023

Single-Level Differentiable Contact Simulation.
IEEE Robotics Autom. Lett., July, 2023

Differentiable Physics Simulation of Dynamics-Augmented Neural Objects.
IEEE Robotics Autom. Lett., May, 2023

Space: The Ultimate Computational Edge.
IEEE Pervasive Comput., 2023

Efficient Online Learning of Contact Force Models for Connector Insertion.
CoRR, 2023

ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control.
CoRR, 2023

TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers.
CoRR, 2023

Learning Covariances for Estimation with Constrained Bilevel Optimization.
CoRR, 2023

SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos.
CoRR, 2023

Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates.
CoRR, 2023

Direct Collocation for Quantum Optimal Control.
Proceedings of the IEEE International Conference on Quantum Computing and Engineering, 2023

Practical Critic Gradient based Actor Critic for On-Policy Reinforcement Learning.
Proceedings of the Learning for Dynamics and Control Conference, 2023

Deep Off-Policy Iterative Learning Control.
Proceedings of the Learning for Dynamics and Control Conference, 2023

Multi-IMU Proprioceptive Odometry for Legged Robots.
IROS, 2023

Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Differentiable Collision Detection for a Set of Convex Primitives.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Enhanced Balance for Legged Robots Using Reaction Wheels.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

PPR: Physically Plausible Reconstruction from Monocular Videos.
Proceedings of the IEEE/CVF International Conference on Computer Vision, 2023

Propulsion-Free Cross-Track Control of a LEO Small-Satellite Constellation with Differential Drag.
Proceedings of the 62nd IEEE Conference on Decision and Control, 2023

2022
On-Orbit Implementation of Discrete Isolation Schemes for Improved Reliability of Serial Communication Buses.
IEEE Trans. Aerosp. Electron. Syst., 2022

Dynamic Biasing for Improved On-Orbit Total-Dose Lifetimes of Commercial Electronic Devices.
IEEE Trans. Aerosp. Electron. Syst., 2022

Online Kinematic Calibration for Legged Robots.
IEEE Robotics Autom. Lett., 2022

Trajectory Optimization with Optimization-Based Dynamics.
IEEE Robotics Autom. Lett., 2022

Data-Efficient Model Learning for Model Predictive Control with Jacobian-Regularized Dynamic Mode Decomposition.
CoRR, 2022

DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons.
CoRR, 2022

Low-latency Imaging and Inference from LoRa-enabled CubeSats.
CoRR, 2022

Dojo: A Differentiable Simulator for Robotics.
CoRR, 2022

ALGAMES: a fast augmented Lagrangian solver for constrained dynamic games.
Auton. Robots, 2022

CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints.
Proceedings of the Robotics Research, 2022

Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition.
Proceedings of the Conference on Robot Learning, 2022

2021
Computational Nanosatellite Constellations: Opportunities and Challenges.
GetMobile Mob. Comput. Commun., 2021

Planning With Attitude.
IEEE Robotics Autom. Lett., 2021

Direct Policy Optimization Using Deterministic Sampling and Collocation.
IEEE Robotics Autom. Lett., 2021

LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning.
IEEE Robotics Autom. Lett., 2021

Linear Contact-Implicit Model-Predictive Control.
CoRR, 2021

Training Structured Mechanical Models by Minimizing Discrete Euler-Lagrange Residual.
CoRR, 2021

Linear-Time Variational Integrators in Maximal Coordinates.
Proceedings of the Algorithmic Foundations of Robotics XIV, 2021

Joint inference and input optimization in equilibrium networks.
Proceedings of the Advances in Neural Information Processing Systems 34: Annual Conference on Neural Information Processing Systems 2021, 2021

A Dynamics Simulator for Soft Growing Robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

ALTRO-C: A Fast Solver for Conic Model-Predictive Control.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Linear-Quadratic Optimal Control in Maximal Coordinates.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020
Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization.
IEEE Robotics Autom. Lett., 2020

Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels.
CoRR, 2020

ALGAMES: A Fast Solver for Constrained Dynamic Games.
Proceedings of the Robotics: Science and Systems XVI, 2020

Structured Mechanical Models for Robot Learning and Control.
Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, 2020

Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM.
Proceedings of the 37th International Conference on Machine Learning, 2020

2019
Contact-implicit trajectory optimization using variational integrators.
Int. J. Robotics Res., 2019

A General Framework for Structured Learning of Mechanical Systems.
CoRR, 2019

Robust direct trajectory optimization using approximate invariant funnels.
Auton. Robots, 2019

A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization.
Proceedings of the Robotics: Science and Systems XV, 2019

Bilevel Optimization for Planning Through Contact: A Semidirect Method.
Proceedings of the Robotics Research, 2019

ALTRO: A Fast Solver for Constrained Trajectory Optimization.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

2018
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot.
Proceedings of the Robotics: Science and Systems XIV, 2018

Bio-inspired Position Control of Satellite Constellations.
Proceedings of the Distributed Autonomous Robotic Systems, 2018

2017
DIRTREL: Robust Trajectory Optimization with Ellipsoidal Disturbances and LQR Feedback.
Proceedings of the Robotics: Science and Systems XIII, 2017

Variational Contact-Implicit Trajectory Optimization.
Proceedings of the Robotics Research, The 18th International Symposium, 2017

Constrained unscented dynamic programming.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Planning cuts for mobile robots with bladed tools.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

2016
Derivative-free trajectory optimization with unscented dynamic programming.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016


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