Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation. - Zachary Olkin; Aaron D. Ames (CDC, 2024)

Layered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid Systems. - Zachary Olkin; Aaron D. Ames (ACC, 2025)

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control. - Zachary Olkin; Aaron D. Ames (CoRR, 2025)

CLF-RL: Control Lyapunov Function Guided Reinforcement Learning. - Kejun Li; Zachary Olkin; Yisong Yue; Aaron D. Ames (CoRR, 2025)