Zachary Manchester

Publication Activity (10 Years)

Years Active: 2016-2024
Publications (10 Years): 90

Top Topics

Predictive Control

Iterative Learning Control

Augmented Lagrangian

Top Venues

IEEE Robotics Autom. Lett.

Robotics: Science and Systems

Publications

Arun L. Bishop, John Z. Zhang, Swaminathan Gurumurthy, Kevin Tracy, Zachary Manchester
ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control. ICRA (2024)
Simon Le Cleac'h, Taylor A. Howell, Shuo Yang, Chi-Yen Lee, John Z. Zhang, Arun L. Bishop, Mac Schwager, Zachary Manchester
Fast Contact-Implicit Model Predictive Control. IEEE Trans. Robotics 40 (2024)
Richard Desatnik, Mikhail Khrenov, Zachary Manchester, Philip R. Leduc, Carmel Majidi
Optimal Control for a Shape Memory Alloy Actuated Soft Digit using Iterative Learning Control. RoboSoft (2024)
Ibrahima Sory Sow, Geordan Gutow, Howie Choset, Zachary Manchester
A Convex Formulation of the Soft-Capture Problem. CoRR (2024)
Jon Arrizabalaga, Zachary Manchester, Markus Ryll
Differentiable Collision-Free Parametric Corridors. CoRR (2024)
Swaminathan Gurumurthy, Karnik Ram, Bingqing Chen, Zachary Manchester, Zico Kolter
From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers. CoRR (2024)
Khai Nguyen, Sam Schoedel, Anoushka Alavilli, Brian Plancher, Zachary Manchester
TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers. ICRA (2024)
Sam Schoedel, Khai Nguyen, Elakhya Nedumaran, Brian Plancher, Zachary Manchester
Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC. CoRR (2024)
Jeong Hun Lee, Sam Schoedel, Aditya Bhardwaj, Zachary Manchester
From Pixels to Torques with Linear Feedback. CoRR (2024)
Jacob B. Willis, Paulo R. M. Fisch, Aleksei Seletskiy, Zachary Manchester
Building a Better B-Dot: Fast Detumbling with Non-Monotonic Lyapunov Functions. CoRR (2024)
Fausto Vega, Zachary Manchester, Martin Lo, Ricardo Restrepo
Contingency-Aware Station-Keeping Control of Halo Orbits. CoRR (2024)
Kyle McCleary, Swaminathan Gurumurthy, Paulo R. M. Fisch, Saral Tayal, Zachary Manchester, Brandon Lucia
VINSat: Solving the Lost-in-Space Problem with Visual-Inertial Navigation. ICRA (2024)
Mohamad Qadri, Zachary Manchester, Michael Kaess
Learning Covariances for Estimation with Constrained Bilevel Optimization. ICRA (2024)
Shuo Yang, Zixin Zhang, Zhengyu Fu, Zachary Manchester
Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion. ICRA (2023)
Swaminathan Gurumurthy, Zachary Manchester, J. Zico Kolter
Practical Critic Gradient based Actor Critic for On-Policy Reinforcement Learning. L4DC (2023)
Swaminathan Gurumurthy, J. Zico Kolter, Zachary Manchester
Deep Off-Policy Iterative Learning Control. L4DC (2023)
Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo, Taylor A. Howell, Ruohan Gao, Jiajun Wu, Zachary Manchester, Mac Schwager
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects. IEEE Robotics Autom. Lett. 8 (5) (2023)
Aaron Trowbridge, Aditya Bhardwaj, Kevin He, David I. Schuster, Zachary Manchester
Direct Collocation for Quantum Optimal Control. QCE (2023)
Chi-Yen Lee, Shuo Yang, Benjamin Bokser, Zachary Manchester
Enhanced Balance for Legged Robots Using Reaction Wheels. ICRA (2023)
John Z. Zhang, Shuo Yang, Gengshan Yang, Arun L. Bishop, Deva Ramanan, Zachary Manchester
SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos. CoRR (2023)
Kevin Tracy, Taylor A. Howell, Zachary Manchester
Differentiable Collision Detection for a Set of Convex Primitives. ICRA (2023)
Giusy Falcone, Jacob B. Willis, Zachary Manchester
Propulsion-Free Cross-Track Control of a LEO Small-Satellite Constellation with Differential Drag. CDC (2023)
Jeong Hun Lee, Mike Yan Michelis, Robert K. Katzschmann, Zachary Manchester
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications. ICRA (2023)
Anoushka Alavilli, Khai Nguyen, Sam Schoedel, Brian Plancher, Zachary Manchester
TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers. CoRR (2023)
Shuo Yang, Zixin Zhang, Benjamin Bokser, Zachary Manchester
Multi-IMU Proprioceptive Odometry for Legged Robots. IROS (2023)
Jan Brüdigam, Stefan Sosnowski, Zachary Manchester, Sandra Hirche
Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates. CoRR (2023)
Jeong Hun Lee, Mike Yan Michelis, Robert K. Katzschmann, Zachary Manchester
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications. CoRR (2023)
Kevin Tracy, Zachary Manchester, Ajinkya Jain, Keegan Go, Stefan Schaal, Tom Erez, Yuval Tassa
Efficient Online Learning of Contact Force Models for Connector Insertion. CoRR (2023)
John Z. Zhang, Shuo Yang, Gengshan Yang, Arun L. Bishop, Swaminathan Gurumurthy, Deva Ramanan, Zachary Manchester
SLoMo: A General System for Legged Robot Motion Imitation From Casual Videos. IEEE Robotics Autom. Lett. 8 (11) (2023)
Mohamad Qadri, Zachary Manchester, Michael Kaess
Learning Covariances for Estimation with Constrained Bilevel Optimization. CoRR (2023)
Simon Le Cleac'h, Mac Schwager, Zachary Manchester, Vikas Sindhwani, Pete Florence, Sumeet Singh
Single-Level Differentiable Contact Simulation. IEEE Robotics Autom. Lett. 8 (7) (2023)
Gengshan Yang, Shuo Yang, John Z. Zhang, Zachary Manchester, Deva Ramanan
PPR: Physically Plausible Reconstruction from Monocular Videos. ICCV (2023)
Giusy Falcone, Jacob B. Willis, Zachary Manchester
Propulsion-Free Cross-Track Control of a LEO Small-Satellite Constellation with Differential Drag. CoRR (2023)
Arun L. Bishop, John Z. Zhang, Swaminathan Gurumurthy, Kevin Tracy, Zachary Manchester
ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control. CoRR (2023)
Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo, Taylor A. Howell, Ruohan Gao, Jiajun Wu, Zachary Manchester, Mac Schwager
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects. CoRR (2022)
Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh, Peter R. Florence, Zachary Manchester, Vikas Sindhwani
Trajectory Optimization with Optimization-Based Dynamics. IEEE Robotics Autom. Lett. 7 (3) (2022)
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
ALGAMES: a fast augmented Lagrangian solver for constrained dynamic games. Auton. Robots 46 (1) (2022)
Taylor A. Howell, Simon Le Cleac'h, Kevin Tracy, Zachary Manchester
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints. CoRR (2022)
Maximillian Holliday, Thomas A. Heuser, Zachary Manchester, Debbie G. Senesky
Dynamic Biasing for Improved On-Orbit Total-Dose Lifetimes of Commercial Electronic Devices. IEEE Trans. Aerosp. Electron. Syst. 58 (4) (2022)
Kevin Tracy, Taylor A. Howell, Zachary Manchester
Differentiable Collision Detection for a Set of Convex Primitives. CoRR (2022)
Simon Le Cleac'h, Mac Schwager, Zachary Manchester, Vikas Sindhwani, Pete Florence, Sumeet Singh
Single-Level Differentiable Contact Simulation. CoRR (2022)
Shuo Yang, Zixin Zhang, Zhengyu Fu, Zachary Manchester
Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion. CoRR (2022)
Kevin Tracy, Taylor A. Howell, Zachary Manchester
DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons. CoRR (2022)
Brian Edward Jackson, Jeong Hun Lee, Kevin Tracy, Zachary Manchester
Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition. CoRL (2022)
Taylor A. Howell, Kevin Tracy, Simon Le Cleac'h, Zachary Manchester
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints. ISRR (2022)
Akshay Gadre, Swarun Kumar, Zachary Manchester
Low-latency Imaging and Inference from LoRa-enabled CubeSats. CoRR (2022)
Brian E. Jackson, Jeong Hun Lee, Kevin Tracy, Zachary Manchester
Data-Efficient Model Learning for Model Predictive Control with Jacobian-Regularized Dynamic Mode Decomposition. CoRR (2022)
Maximillian Holliday, Zachary Manchester, Debbie G. Senesky
On-Orbit Implementation of Discrete Isolation Schemes for Improved Reliability of Serial Communication Buses. IEEE Trans. Aerosp. Electron. Syst. 58 (4) (2022)
Shuo Yang, Howie Choset, Zachary Manchester
Online Kinematic Calibration for Legged Robots. IEEE Robotics Autom. Lett. 7 (3) (2022)
Taylor A. Howell, Simon Le Cleac'h, J. Zico Kolter, Mac Schwager, Zachary Manchester
Dojo: A Differentiable Simulator for Robotics. CoRR (2022)
Swaminathan Gurumurthy, Shaojie Bai, Zachary Manchester, J. Zico Kolter
Joint inference and input optimization in equilibrium networks. NeurIPS (2021)
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games. CoRR (2021)
Brandon Lucia, Brad Denby, Zachary Manchester, Harsh Desai, Emily Ruppel, Alexei Colin
Computational Nanosatellite Constellations: Opportunities and Challenges. GetMobile Mob. Comput. Commun. 25 (1) (2021)
Taylor A. Howell, Chunjiang Fu, Zachary Manchester
Direct Policy Optimization Using Deterministic Sampling and Collocation. IEEE Robotics Autom. Lett. 6 (3) (2021)
Swaminathan Gurumurthy, Shaojie Bai, Zachary Manchester, J. Zico Kolter
Joint inference and input optimization in equilibrium networks. CoRR (2021)
Jan Brüdigam, Zachary Manchester
Linear-Time Variational Integrators in Maximal Coordinates. WAFR (2021)
Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh, Pete Florence, Zachary Manchester, Vikas Sindhwani
Trajectory Optimization with Optimization-Based Dynamics. CoRR (2021)
Brian E. Jackson, Kevin Tracy, Zachary Manchester
Planning With Attitude. IEEE Robotics Autom. Lett. 6 (3) (2021)
Jan Brüdigam, Zachary Manchester
Linear-Quadratic Optimal Control in Maximal Coordinates. ICRA (2021)
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning. IEEE Robotics Autom. Lett. 6 (3) (2021)
Kunal Menda, Jayesh K. Gupta, Zachary Manchester, Mykel J. Kochenderfer
Training Structured Mechanical Models by Minimizing Discrete Euler-Lagrange Residual. CoRR (2021)
Simon Le Cleac'h, Taylor A. Howell, Mac Schwager, Zachary Manchester
Linear Contact-Implicit Model-Predictive Control. CoRR (2021)
Brian E. Jackson, Tarun Punnoose, Daniel Neamati, Kevin Tracy, Rianna M. Jitosho, Zachary Manchester
ALTRO-C: A Fast Solver for Conic Model-Predictive Control. ICRA (2021)
Kunal Menda, Jean de Becdelièvre, Jayesh K. Gupta, Ilan Kroo, Mykel J. Kochenderfer, Zachary Manchester
Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM. ICML (2020)
Remy Derollez, Simon Le Cleac'h, Zachary Manchester
Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels. CoRR (2020)
Kunal Menda, Jean de Becdelièvre, Jayesh K. Gupta, Ilan Kroo, Mykel J. Kochenderfer, Zachary Manchester
Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM. CoRR (2020)
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning. CoRR (2020)
Brian E. Jackson, Taylor A. Howell, Kunal Shah, Mac Schwager, Zachary Manchester
Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization. IEEE Robotics Autom. Lett. 5 (2) (2020)
Jan Brüdigam, Zachary Manchester
Linear-Time Variational Integrators in Maximal Coordinates. CoRR (2020)
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
ALGAMES: A Fast Solver for Constrained Dynamic Games. Robotics: Science and Systems (2020)
Taylor A. Howell, Chunjiang Fu, Zachary Manchester
Direct Policy Optimization using Deterministic Sampling and Collocation. CoRR (2020)
Jayesh K. Gupta, Kunal Menda, Zachary Manchester, Mykel J. Kochenderfer
Structured Mechanical Models for Robot Learning and Control. L4DC (2020)
Jayesh K. Gupta, Kunal Menda, Zachary Manchester, Mykel J. Kochenderfer
Structured Mechanical Models for Robot Learning and Control. CoRR (2020)
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Robert J. Wood, Scott Kuindersma
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot. CoRR (2019)
Benoit Landry, Zachary Manchester, Marco Pavone
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization. Robotics: Science and Systems (2019)
Benoit Landry, Zachary Manchester, Marco Pavone
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization. CoRR (2019)
Zachary Manchester, Neel Doshi, Robert J. Wood, Scott Kuindersma
Contact-implicit trajectory optimization using variational integrators. Int. J. Robotics Res. 38 (12-13) (2019)
Taylor A. Howell, Brian E. Jackson, Zachary Manchester
ALTRO: A Fast Solver for Constrained Trajectory Optimization. IROS (2019)
Jayesh K. Gupta, Kunal Menda, Zachary Manchester, Mykel J. Kochenderfer
A General Framework for Structured Learning of Mechanical Systems. CoRR (2019)
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
ALGAMES: A Fast Solver for Constrained Dynamic Games. CoRR (2019)
Benoit Landry, Joseph Lorenzetti, Zachary Manchester, Marco Pavone
Bilevel Optimization for Planning through Contact: A Semidirect Method. CoRR (2019)
Benoit Landry, Joseph Lorenzetti, Zachary Manchester, Marco Pavone
Bilevel Optimization for Planning Through Contact: A Semidirect Method. ISRR (2019)
Zachary Manchester, Scott Kuindersma
Robust direct trajectory optimization using approximate invariant funnels. Auton. Robots 43 (2) (2019)
Michael Rubenstein, Zachary Manchester
Bio-inspired Position Control of Satellite Constellations. DARS (2018)
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Robert J. Wood, Scott Kuindersma
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot. Robotics: Science and Systems (2018)
Jeffrey I. Lipton, Zachary Manchester, Daniela Rus
Planning cuts for mobile robots with bladed tools. ICRA (2017)
Zachary Manchester, Scott Kuindersma
Variational Contact-Implicit Trajectory Optimization. ISRR (2017)
Brian Plancher, Zachary Manchester, Scott Kuindersma
Constrained unscented dynamic programming. IROS (2017)
Zachary Manchester, Scott Kuindersma
DIRTREL: Robust Trajectory Optimization with Ellipsoidal Disturbances and LQR Feedback. Robotics: Science and Systems (2017)
Zachary Manchester, Scott Kuindersma
Derivative-free trajectory optimization with unscented dynamic programming. CDC (2016)