Derivative-free trajectory optimization with unscented dynamic programming. - Zachary Manchester; Scott Kuindersma (CDC, 2016)

Planning cuts for mobile robots with bladed tools. - Jeffrey I. Lipton; Zachary Manchester; Daniela Rus (ICRA, 2017)

Constrained unscented dynamic programming. - Brian Plancher; Zachary Manchester; Scott Kuindersma (IROS, 2017)

Variational Contact-Implicit Trajectory Optimization. - Zachary Manchester; Scott Kuindersma (ISRR, 2017)

DIRTREL: Robust Trajectory Optimization with Ellipsoidal Disturbances and LQR Feedback. - Zachary Manchester; Scott Kuindersma (Robotics: Science and Systems, 2017)

Bio-inspired Position Control of Satellite Constellations. - Michael Rubenstein; Zachary Manchester (DARS, 2018)

Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot. - Neel Doshi; Kaushik Jayaram; Benjamin Goldberg 003; Zachary Manchester; Robert J. Wood; Scott Kuindersma (Robotics: Science and Systems, 2018)

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

Bilevel Optimization for Planning Through Contact: A Semidirect Method. - Benoit Landry; Joseph Lorenzetti; Zachary Manchester; Marco Pavone 001 (ISRR, 2019)

A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization. - Benoit Landry; Zachary Manchester; Marco Pavone 001 (Robotics: Science and Systems, 2019)

Robust direct trajectory optimization using approximate invariant funnels. - Zachary Manchester; Scott Kuindersma (Auton. Robots, 2019)

A General Framework for Structured Learning of Mechanical Systems. - Jayesh K. Gupta; Kunal Menda; Zachary Manchester; Mykel J. Kochenderfer (CoRR, 2019)

Contact-implicit trajectory optimization using variational integrators. - Zachary Manchester; Neel Doshi; Robert J. Wood; Scott Kuindersma (Int. J. Robotics Res., 2019)

Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM. - Kunal Menda; Jean de Becdelièvre; Jayesh K. Gupta; Ilan Kroo; Mykel J. Kochenderfer; Zachary Manchester (ICML, 2020)

Structured Mechanical Models for Robot Learning and Control. - Jayesh K. Gupta; Kunal Menda; Zachary Manchester; Mykel J. Kochenderfer (L4DC, 2020)

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)

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)

Normalized Stanford Helicopter Dataset. - Kunal Menda; Jean de Becdelièvre; Jayesh K. Gupta; Ilan Kroo; Mykel John Kochenderfer; Zachary Manchester (Zenodo, 2020)

Linear-Quadratic Optimal Control in Maximal Coordinates. - Jan Brüdigam; Zachary Manchester (ICRA, 2021)

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)

A Dynamics Simulator for Soft Growing Robots. - Rianna M. Jitosho; Nathaniel Agharese; Allison M. Okamura; Zac Manchester (ICRA, 2021)

Joint inference and input optimization in equilibrium networks. - Swaminathan Gurumurthy; Shaojie Bai; Zachary Manchester; J. Zico Kolter (NeurIPS, 2021)

Linear-Time Variational Integrators in Maximal Coordinates. - Jan Brüdigam; Zachary Manchester (WAFR, 2021)

Training Structured Mechanical Models by Minimizing Discrete Euler-Lagrange Residual. - Kunal Menda; Jayesh K. Gupta; Zachary Manchester; Mykel J. Kochenderfer (CoRR, 2021)

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)

Direct Policy Optimization Using Deterministic Sampling and Collocation. - Taylor A. Howell; Chunjiang Fu; Zachary Manchester (IEEE Robotics Autom. Lett., 2021)

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

Computational Nanosatellite Constellations: Opportunities and Challenges. - Brandon Lucia; Brad Denby; Zachary Manchester; Harsh Desai; Emily Ruppel; Alexei Colin (GetMobile Mob. Comput. Commun., 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)

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)

Low-latency Imaging and Inference from LoRa-enabled CubeSats. - Akshay Gadre; Swarun Kumar; Zachary Manchester (CoRR, 2022)

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

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)

Online Kinematic Calibration for Legged Robots. - Shuo Yang; Howie Choset; Zachary Manchester (IEEE Robotics Autom. Lett., 2022)

Dynamic Biasing for Improved On-Orbit Total-Dose Lifetimes of Commercial Electronic Devices. - Maximillian Holliday; Thomas A. Heuser; Zachary Manchester; Debbie G. Senesky (IEEE Trans. Aerosp. Electron. Syst., 2022)

On-Orbit Implementation of Discrete Isolation Schemes for Improved Reliability of Serial Communication Buses. - Maximillian Holliday; Zachary Manchester; Debbie G. Senesky (IEEE Trans. Aerosp. Electron. Syst., 2022)

Propulsion-Free Cross-Track Control of a LEO Small-Satellite Constellation with Differential Drag. - Giusy Falcone; Jacob B. Willis; Zachary Manchester (CDC, 2023)

PPR: Physically Plausible Reconstruction from Monocular Videos. - Gengshan Yang; Shuo Yang; John Z. Zhang; Zachary Manchester; Deva Ramanan (ICCV, 2023)

Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications. - Jeong Hun Lee; Mike Yan Michelis; Robert K. Katzschmann; Zachary Manchester (ICRA, 2023)

Enhanced Balance for Legged Robots Using Reaction Wheels. - Chi-Yen Lee; Shuo Yang; Benjamin Bokser; Zachary Manchester (ICRA, 2023)

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

Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion. - Shuo Yang; Zixin Zhang 003; Zhengyu Fu; Zachary Manchester (ICRA, 2023)

Multi-IMU Proprioceptive Odometry for Legged Robots. - Shuo Yang; Zixin Zhang 003; Benjamin Bokser; Zachary Manchester (IROS, 2023)

Deep Off-Policy Iterative Learning Control. - Swaminathan Gurumurthy; J. Zico Kolter; Zachary Manchester (L4DC, 2023)

Practical Critic Gradient based Actor Critic for On-Policy Reinforcement Learning. - Swaminathan Gurumurthy; Zachary Manchester; J. Zico Kolter (L4DC, 2023)

Direct Collocation for Quantum Optimal Control. - Aaron Trowbridge; Aditya Bhardwaj; Kevin He; David I. Schuster; Zachary Manchester (QCE, 2023)

Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates. - Jan Brüdigam; Stefan Sosnowski; Zachary Manchester; Sandra Hirche (CoRR, 2023)

SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos. - John Z. Zhang; Shuo Yang; Gengshan Yang; Arun L. Bishop; Deva Ramanan; Zachary Manchester (CoRR, 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)

Space: The Ultimate Computational Edge. - Zac Manchester; Avi Loeb (IEEE Pervasive Comput., 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)

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

SLoMo: A General System for Legged Robot Motion Imitation From Casual Videos. - John Z. Zhang; Shuo Yang; Gengshan Yang; Arun L. Bishop; Swaminathan Gurumurthy; Deva Ramanan; Zachary Manchester (IEEE Robotics Autom. Lett., 2023)

From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers. - Swaminathan Gurumurthy; Karnik Ram; Bingqing Chen; Zachary Manchester; Zico Kolter (CVPR, 2024)

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)

VINSat: Solving the Lost-in-Space Problem with Visual-Inertial Navigation. - Kyle McCleary; Swaminathan Gurumurthy; Paulo R. M. Fisch; Saral Tayal; Zachary Manchester; Brandon Lucia (ICRA, 2024)

TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers. - Khai Nguyen; Sam Schoedel; Anoushka Alavilli; Brian Plancher; Zachary Manchester (ICRA, 2024)

Learning Covariances for Estimation with Constrained Bilevel Optimization. - Mohamad Qadri; Zachary Manchester; Michael Kaess (ICRA, 2024)

Differentiable Collision-Free Parametric Corridors. - Jon Arrizabalaga; Zachary Manchester; Markus Ryll (IROS, 2024)

Optimal Control for a Shape Memory Alloy Actuated Soft Digit using Iterative Learning Control. - Richard Desatnik; Mikhail Khrenov; Zachary Manchester; Philip R. Leduc; Carmel Majidi (RoboSoft, 2024)

Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC. - Sam Schoedel; Khai Nguyen; Elakhya Nedumaran; Brian Plancher; Zachary Manchester (CoRR, 2024)

A Convex Formulation of the Soft-Capture Problem. - Ibrahima Sory Sow; Geordan Gutow; Howie Choset; Zachary Manchester (CoRR, 2024)

Contingency-Aware Station-Keeping Control of Halo Orbits. - Fausto Vega; Zachary Manchester; Martin Lo; Ricardo Restrepo (CoRR, 2024)

From Pixels to Torques with Linear Feedback. - Jeong Hun Lee; Sam Schoedel; Aditya Bhardwaj; Zachary Manchester (CoRR, 2024)

Building a Better B-Dot: Fast Detumbling with Non-Monotonic Lyapunov Functions. - Jacob B. Willis; Paulo R. M. Fisch; Aleksei Seletskiy; Zachary Manchester (CoRR, 2024)

Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots. - Zixin Zhang 003; John Z. Zhang; Shuo Yang; Zachary Manchester (CoRR, 2024)

Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control. - Juan Alvarez-Padilla; John Z. Zhang; Sofia Kwok; John M. Dolan; Zachary Manchester (CoRR, 2024)

Optimal Attitude Control of Large Flexible Space Structures with Distributed Momentum Actuators. - Pedro Rocha Cachim; Will Kraus; Zachary Manchester; Pedro Lourenço; Rodrigo M. M. Ventura (CoRR, 2024)

PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System. - Jon Arrizabalaga; Fausto Vega; Zbynek SÍR; Zachary Manchester; Markus Ryll (CoRR, 2024)

Wallbounce : Push wall to navigate with Contact-Implicit MPC. - Xiaohan Liu; Cunxi Dai; John Z. Zhang; Arun L. Bishop; Zachary Manchester; Ralph Hollis (CoRR, 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)

Adapting LoRa Ground Stations for Low-latency Imaging and Inference from LoRa-enabled CubeSats. - Akshay Gadre; Zachary Manchester; Swarun Kumar (ACM Trans. Sens. Networks, 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)

A Unified Framework for Simulating Strongly-Coupled Fluid-Robot Multiphysics. - Jeong Hun Lee; Junzhe Hu; Sofia Kwok; Carmel Majidi; Zachary Manchester (CoRR, 2025)

Multi-IMU Sensor Fusion for Legged Robots. - Shuo Yang; Zixin Zhang 003; John Z. Zhang; Ibrahima Sory Sow; Zachary Manchester (CoRR, 2025)