Zachary Manchester
収録論文 53本 ・ フィジカルAI/ロボット学習
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics2026/5/1
- Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation2026/4/1
- Implicit Primal-Dual Interior-Point Methods for Quadratic Programming2026/4/1
- Complementarity by Construction: A Lie-Group Approach to Solving Quadratic Programs with Linear Complementarity Constraints2026/4/1
- Planetary Exploration 3.0: A Roadmap for Software-Defined, Radically Adaptive Space Systems2026/4/1
- ADMM-based Continuous Trajectory Optimization in Graphs of Convex Sets2026/3/1
- Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations2026/2/1
- How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints2025/11/1
- Convex Maneuver Planning for Spacecraft Collision Avoidance2025/10/1
- The Trajectory Bundle Method: Unifying Sequential-Convex Programming and Sampling-Based Trajectory Optimization2025/9/1
- The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control2025/9/1
- Multi-IMU Sensor Fusion for Legged Robots2025/7/1
- Realizing Robotic Swimming with Unified Fluid-Robot Multiphysics2025/6/1
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo2025/3/1
- Wallbounce : Push wall to navigate with Contact-Implicit MPC2024/11/1
- PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System2024/10/1
- A Universal Formulation for Path-Parametric Planning and Control2024/10/1
- Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control2024/9/1
- Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots2024/9/1
- Differentiable Collision-Free Parametric Corridors2024/7/1
- From Pixels to Torques with Linear Feedback2024/6/1
- A Convex Formulation of the Soft-Capture Problem2024/5/1
- Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC2024/3/1
- Efficient Online Learning of Contact Force Models for Connector Insertion2023/12/1
- ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control2023/11/1
- TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers2023/10/1
- Learning Covariances for Estimation with Constrained Bilevel Optimization2023/9/1
- SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos2023/4/1
- Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates2023/2/1
- Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications2023/1/1
- Single-Level Differentiable Contact Simulation2022/12/1
- Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition}2022/12/1
- Differentiable Physics Simulation of Dynamics-Augmented Neural Objects2022/10/1
- Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion2022/9/1
- DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons2022/7/1
- Differentiable Collision Detection for a Set of Convex Primitives2022/7/1
- CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints2022/5/1
- Dojo: A Differentiable Physics Engine for Robotics2022/3/1
- Trajectory Optimization with Optimization-Based Dynamics2021/9/1
- Fast Contact-Implicit Model-Predictive Control2021/7/1
- Training Structured Mechanical Models by Minimizing Discrete Euler-Lagrange Residual2021/5/1
- ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games2021/4/1
- Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels2020/11/1
- LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning2020/11/1
- Direct Policy Optimization using Deterministic Sampling and Collocation2020/10/1
- Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM2020/6/1
- Structured Mechanical Models for Robot Learning and Control2020/4/1
- Linear-Time Variational Integrators in Maximal Coordinates2020/2/1
- ALGAMES: A Fast Solver for Constrained Dynamic Games2019/10/1
- Bilevel Optimization for Planning through Contact: A Semidirect Method2019/6/1
- A General Framework for Structured Learning of Mechanical Systems2019/2/1
- A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization2019/2/1
- Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot2019/1/1