ZM
Zachary Manchester
cs.ROcs.SYeess.SYmath.OCcs.LGastro-ph.IMcs.AIquant-phastro-ph.EPcs.CV
On Valency
published · living versionsW_m7w62uj4·v1 · currentpublished
Preprints & journals
77 papers in the corpus · 2016–2026LLA-MPPI: Rapidly Adaptive Whole-body Control of Legged Robots with GPU-Accelerated Parallel Simulations2610.10465v1 · Sebin Jung, Maitham F. AL-Sunni, Juan Alvarez-Padilla et al.2026 · 0 citationsarXiv
End-to-end QP-based policies: A unified perspective on robust control and robot learning2609.31905v1 · Fausto Vega, Priyanka Supraja Balaji, Chase Dunaway et al.2026 · 0 citationsarXiv
Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization2609.23037v1 · Lukas Pries, Joris Verhagen, Jon Arrizabalaga et al.2026 · 0 citationsarXiv
ElastiQP: An Always-Feasible QP Solver for Constrained Robot Control2609.19080v1 · Daniel Morton, Jon Arrizabalaga, Zachary Manchester et al.2026 · 0 citationsarXiv
mjorbit: A Simulation Framework for Space Robotics2609.08010v1 · John Z. Zhang, Joris Verhagen, Fausto Vega et al.2026 · 0 citationsarXiv
Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control2608.19443v1 · Chaoyi Pan, Zeji Yi, John Zhang et al.2026 · 0 citationsarXiv
A Differentiable Interior-Point Method in Single Precision2605.17913v1 · Jon Arrizabalaga, Kevin Tracy, Zachary Manchester2026 · 0 citationsarXiv
TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics2605.13748v2 · Ishaan Mahajan, Jon Arrizabalaga, Andrea Grillo et al.2026 · 0 citationsarXiv
Planetary Exploration 3.0: A Roadmap for Software-Defined, Radically Adaptive Space Systems2604.20910v1 · Masahiro Ono, Daniel Selva, Morgan L. Cable et al.2026 · 0 citationsAIAA ASCEND 2026
Complementarity by Construction: A Lie-Group Approach to Solving Quadratic Programs with Linear Complementarity Constraints2604.11991v2 · Arun L. Bishop, Micah I. Reich, Zachary Manchester2026 · 0 citationsarXiv
Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation2604.08508v3 · John Z. Zhang, Maks Sorokin, Jan Brudigam et al.2026 · 0 citationsarXiv
Implicit Primal-Dual Interior-Point Methods for Quadratic Programming2604.00364v1 · Jon Arrizabalaga, Zachary Manchester2026 · 0 citationsarXiv
ADMM-based Continuous Trajectory Optimization in Graphs of Convex Sets2603.11335v2 · Lukas Pries, Jon Arrizabalaga, Zachary Manchester et al.2026 · 0 citationsarXiv
Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations2602.16846v1 · Xili Yi, Ying Xing, Zachary Manchester et al.2026 · 0 citationsarXiv
How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints2511.18606v2 · Kensuke Nakamura, Arun L. Bishop, Steven Man et al.2025 · 0 citationsarXiv
Convex Maneuver Planning for Spacecraft Collision Avoidance2510.19058v1 · Fausto Vega, Jon Arrizabalaga, Ryan Watson et al.2025 · 0 citationsarXiv
The Trajectory Bundle Method: Unifying Sequential-Convex Programming and Sampling-Based Trajectory Optimization2509.26575v1 · Kevin Tracy, John Z. Zhang, Jon Arrizabalaga et al.2025 · 0 citationsarXiv
The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control2509.17884v1 · Arun L. Bishop, Juan Alvarez-Padilla, Sam Schoedel et al.2025 · 0 citationsarXiv
Universal Dynamics with Globally Controlled Analog Quantum Simulators2508.19075v5 · Hong-Ye Hu, Abigail McClain Gomez, Liyuan Chen et al.2025 · 0 citationsarXiv
Multi-IMU Sensor Fusion for Legged Robots2507.11447v1 · Shuo Yang, Zixin Zhang, John Z. Zhang et al.2025 · 0 citationsarXiv
Realizing Robotic Swimming with Unified Fluid-Robot Multiphysics2506.05012v2 · Jeong Hun Lee, Junzhe Hu, Sofia Kwok et al.2025 · 0 citationsarXiv
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo2503.04613v3 · John Z. Zhang, Taylor A. Howell, Zeji Yi et al.2025 · 0 citationsarXiv
Wallbounce : Push wall to navigate with Contact-Implicit MPC2411.01387v1 · Xiaohan Liu, Cunxi Dai, John Z. Zhang et al.2024 · 0 citationsarXiv
PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System2410.07750v1 · Jon Arrizabalaga, Fausto Vega, Zbynek S'IR et al.2024 · 2 citationsarXiv
Optimal Attitude Control of Large Flexible Space Structures with Distributed Momentum Actuators2410.07376v2 · Pedro Cachim, Will Kraus, Zachary Manchester et al.2024 · 0 citationsarXiv
A Universal Formulation for Path-Parametric Planning and Control2410.04664v2 · Jon Arrizabalaga, Zbynek S'IR, Zachary Manchester et al.2024 · 1 citationarXiv
Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots2409.09940v2 · Zixin Zhang, John Z. Zhang, Shuo Yang et al.2024 · 3 citationsarXiv
Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control2409.10469v1 · Juan Alvarez-Padilla, John Z. Zhang, Sofia Kwok et al.2024 · 11 citationsarXiv
Differentiable Collision-Free Parametric Corridors2407.12283v1 · Jon Arrizabalaga, Zachary Manchester, Markus Ryll2024 · 10 citationsarXiv
Building a Better B-Dot: Fast Detumbling with Non-Monotonic Lyapunov Functions2407.02724v1 · Jacob B. Willis, Paulo R.M. Fisch, Aleksei Seletskiy et al.2024 · 2 citationsarXiv
From Pixels to Torques with Linear Feedback2406.18699v3 · Jeong Hun Lee, Sam Schoedel, Aditya Bhardwaj et al.2024 · 0 citationsarXiv
On the Differentiability of the Primal-Dual Interior-Point Method2406.11749v2 · Kevin Tracy, Zachary Manchester2024 · 2 citationsarXiv
From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers2406.07785v1 · Swaminathan Gurumurthy, Karnik Ram, Bingqing Chen et al.2024 · 1 citationarXiv
Contingency-Aware Station-Keeping Control of Halo Orbits2405.20458v1 · Fausto Vega, Zachary Manchester, Martin Lo et al.2024 · 0 citationsarXiv
A Convex Formulation of the Soft-Capture Problem2405.00867v1 · Ibrahima Sory Sow, Geordan Gutow, Howie Choset et al.2024 · 1 citationarXiv
Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC2403.18149v3 · Ishaan Mahajan, Khai Nguyen, Sam Schoedel et al.2024 · 2 citationsarXiv
Efficient Online Learning of Contact Force Models for Connector Insertion2312.09190v1 · Kevin Tracy, Zachary Manchester, Ajinkya Jain et al.2023 · 3 citationsarXiv
ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control2311.18056v1 · Arun L. Bishop, John Z. Zhang, Swaminathan Gurumurthy et al.2023 · 19 citationsarXiv
TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers2310.16985v4 · Anoushka Alavilli, Khai Nguyen, Sam Schoedel et al.2023 · 59 citationsarXiv
Learning Covariances for Estimation with Constrained Bilevel Optimization2309.09718v1 · Mohamad Qadri, Zachary Manchester, Michael Kaess2023 · 5 citationsarXiv
Propulsion-Free Cross-Track Control of a LEO Small-Satellite Constellation with Differential Drag2306.13844v1 · Giusy Falcone, Jacob B. Willis, Zachary Manchester2023 · 2 citationsarXiv
Direct Collocation for Quantum Optimal Control2305.03261v3 · Aaron Trowbridge, Aditya Bhardwaj, Kevin He et al.2023 · 7 citationsarXiv
SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos2304.14389v2 · John Z. Zhang, Shuo Yang, Gengshan Yang et al.2023 · 17 citationsarXiv
Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates2302.05979v2 · Jan Brudigam, Stefan Sosnowski, Zachary Manchester et al.2023 · 16 citationsarXiv
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications2301.07028v2 · Jeong Hun Lee, Mike Y. Michelis, Robert Katzschmann et al.2023 · 7 citationsarXiv
Single-Level Differentiable Contact Simulation2212.06764v2 · Simon Le Cleac'h, Mac Schwager, Zachary Manchester et al.2022 · 9 citationsarXiv
Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition}2212.07885v2 · Brian E. Jackson, Jeong Hun Lee, Kevin Tracy et al.2022 · 0 citationsConference on Robot Learning (CoRL) 2022, Auckland, New Zealand
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects2210.09420v3 · Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo et al.2022 · 34 citationsarXiv
Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion2209.07654v1 · Shuo Yang, Zixin Zhang, Zhengyu Fu et al.2022 · 41 citationsarXiv
DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons2207.00202v1 · Kevin Tracy, Taylor A. Howell, Zachary Manchester2022 · 6 citationsarXiv
Career total: at least 156 works. 77 are in this corpus.Showing the 50 most recent.
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