Zachary Olkin

According to our database, Zachary Olkin authored at least 8 papers between 2024 and 2026.

Collaborative distances:

• Dijkstra number of five.
• Erdős number of four.

2026

Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy.

William D. Compton, Zachary Olkin, Aaron D. Ames

CoRR, May, 2026

Stability of Control Lyapunov Function Guided Reinforcement Learning.

Zachary Olkin, William D. Compton, Aaron D. Ames

CoRR, May, 2026

CLF-RL: Control Lyapunov Function Guided Reinforcement Learning.

Kejun Li, Zachary Olkin, Yisong Yue, Aaron D. Ames

IEEE Robotics Autom. Lett., March, 2026

Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running.

Zachary Olkin, William D. Compton, Ryan M. Bena, Aaron D. Ames

CoRR, March, 2026

2025

Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning.

Zachary Olkin, Kejun Li, William D. Compton, Aaron D. Ames

CoRR, September, 2025

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control.

Zachary Olkin, Aaron D. Ames

Proceedings of the 24th IEEE-RAS International Conference on Humanoid Robots, 2025

Layered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid Systems.

Zachary Olkin, Aaron D. Ames

Proceedings of the 2025 American Control Conference, 2025

2024

Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation.

Zachary Olkin, Aaron D. Ames

Proceedings of the 63rd IEEE Conference on Decision and Control, 2024