Zachary Manchester

Markus Ryll

CoRR, 2024

Building a Better B-Dot: Fast Detumbling with Non-Monotonic Lyapunov Functions.

[BibT_eX]

[DOI]

CoRR, 2024

From Pixels to Torques with Linear Feedback.

[BibT_eX]

[DOI]

CoRR, 2024

Contingency-Aware Station-Keeping Control of Halo Orbits.

[BibT_eX]

[DOI]

CoRR, 2024

A Convex Formulation of the Soft-Capture Problem.

[BibT_eX]

[DOI]

CoRR, 2024

Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC.

[BibT_eX]

[DOI]

CoRR, 2024

Optimal Control for a Shape Memory Alloy Actuated Soft Digit using Iterative Learning Control.

[BibT_eX]

[DOI]

Proceedings of the 7th IEEE International Conference on Soft Robotics, 2024

Learning Covariances for Estimation with Constrained Bilevel Optimization.

[BibT_eX]

[DOI]

Mohamad Qadri

Michael Kaess

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

VINSat: Solving the Lost-in-Space Problem with Visual-Inertial Navigation.

[BibT_eX]

[DOI]

Kyle McCleary

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control.

[BibT_eX]

[DOI]

Arun L. Bishop

John Z. Zhang

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers.

[BibT_eX]

[DOI]

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2024

2023

SLoMo: A General System for Legged Robot Motion Imitation From Casual Videos.

[BibT_eX]

[DOI]

Deva Ramanan

IEEE Robotics Autom. Lett., November, 2023

Single-Level Differentiable Contact Simulation.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., July, 2023

Differentiable Physics Simulation of Dynamics-Augmented Neural Objects.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., May, 2023

Space: The Ultimate Computational Edge.

[BibT_eX]

[DOI]

Zac Manchester

Avi Loeb

IEEE Pervasive Comput., 2023

Efficient Online Learning of Contact Force Models for Connector Insertion.

[BibT_eX]

[DOI]

CoRR, 2023

SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos.

[BibT_eX]

[DOI]

CoRR, 2023

Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates.

[BibT_eX]

[DOI]

CoRR, 2023

Direct Collocation for Quantum Optimal Control.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Quantum Computing and Engineering, 2023

Practical Critic Gradient based Actor Critic for On-Policy Reinforcement Learning.

[BibT_eX]

[DOI]

J. Zico Kolter

Proceedings of the Learning for Dynamics and Control Conference, 2023

Deep Off-Policy Iterative Learning Control.

[BibT_eX]

[DOI]

J. Zico Kolter

Proceedings of the Learning for Dynamics and Control Conference, 2023

Multi-IMU Proprioceptive Odometry for Legged Robots.

[BibT_eX]

[DOI]

IROS, 2023

Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Differentiable Collision Detection for a Set of Convex Primitives.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Enhanced Balance for Legged Robots Using Reaction Wheels.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications.

[BibT_eX]

[DOI]

Jeong Hun Lee

Mike Yan Michelis

Robert K. Katzschmann

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

PPR: Physically Plausible Reconstruction from Monocular Videos.

[BibT_eX]

[DOI]

Proceedings of the IEEE/CVF International Conference on Computer Vision, 2023

Propulsion-Free Cross-Track Control of a LEO Small-Satellite Constellation with Differential Drag.

[BibT_eX]

[DOI]

Giusy Falcone

Jacob B. Willis

Proceedings of the 62nd IEEE Conference on Decision and Control, 2023

2022

On-Orbit Implementation of Discrete Isolation Schemes for Improved Reliability of Serial Communication Buses.

[BibT_eX]

[DOI]

Maximillian Holliday

Debbie G. Senesky

IEEE Trans. Aerosp. Electron. Syst., 2022

Dynamic Biasing for Improved On-Orbit Total-Dose Lifetimes of Commercial Electronic Devices.

[BibT_eX]

[DOI]

IEEE Trans. Aerosp. Electron. Syst., 2022

Online Kinematic Calibration for Legged Robots.

[BibT_eX]

[DOI]

Shuo Yang

Howie Choset

IEEE Robotics Autom. Lett., 2022

Trajectory Optimization with Optimization-Based Dynamics.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Data-Efficient Model Learning for Model Predictive Control with Jacobian-Regularized Dynamic Mode Decomposition.

[BibT_eX]

[DOI]

CoRR, 2022

DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons.

[BibT_eX]

[DOI]

CoRR, 2022

Low-latency Imaging and Inference from LoRa-enabled CubeSats.

[BibT_eX]

[DOI]

Akshay Gadre

Swarun Kumar

CoRR, 2022

Dojo: A Differentiable Simulator for Robotics.

[BibT_eX]

[DOI]

CoRR, 2022

ALGAMES: a fast augmented Lagrangian solver for constrained dynamic games.

[BibT_eX]

[DOI]

Mac Schwager

Auton. Robots, 2022

CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, 2022

Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition.

[BibT_eX]

[DOI]

Proceedings of the Conference on Robot Learning, 2022

2021

Computational Nanosatellite Constellations: Opportunities and Challenges.

[BibT_eX]

[DOI]

GetMobile Mob. Comput. Commun., 2021

Planning With Attitude.

[BibT_eX]

[DOI]

Brian E. Jackson

IEEE Robotics Autom. Lett., 2021

Direct Policy Optimization Using Deterministic Sampling and Collocation.

[BibT_eX]

[DOI]

Chunjiang Fu

IEEE Robotics Autom. Lett., 2021

LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning.

[BibT_eX]

[DOI]

Mac Schwager

IEEE Robotics Autom. Lett., 2021

Linear Contact-Implicit Model-Predictive Control.

[BibT_eX]

[DOI]

CoRR, 2021

Training Structured Mechanical Models by Minimizing Discrete Euler-Lagrange Residual.

[BibT_eX]

[DOI]

Kunal Menda

Jayesh K. Gupta

CoRR, 2021

Linear-Time Variational Integrators in Maximal Coordinates.

[BibT_eX]

[DOI]

Jan Brüdigam

Proceedings of the Algorithmic Foundations of Robotics XIV, 2021

Joint inference and input optimization in equilibrium networks.

[BibT_eX]

[DOI]

Shaojie Bai

J. Zico Kolter

Proceedings of the Advances in Neural Information Processing Systems 34: Annual Conference on Neural Information Processing Systems 2021, 2021

A Dynamics Simulator for Soft Growing Robots.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

ALTRO-C: A Fast Solver for Conic Model-Predictive Control.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Linear-Quadratic Optimal Control in Maximal Coordinates.

[BibT_eX]

[DOI]

Jan Brüdigam

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020

Normalized Stanford Helicopter Dataset.

[BibT_eX]

[DOI]

Mykel John Kochenderfer

Dataset, February, 2020

Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels.

[BibT_eX]

[DOI]

Remy Derollez

CoRR, 2020

ALGAMES: A Fast Solver for Constrained Dynamic Games.

[BibT_eX]

[DOI]

Mac Schwager

Proceedings of the Robotics: Science and Systems XVI, 2020

Structured Mechanical Models for Robot Learning and Control.

[BibT_eX]

[DOI]

Jayesh K. Gupta

Kunal Menda

Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, 2020

Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM.

[BibT_eX]

[DOI]

Proceedings of the 37th International Conference on Machine Learning, 2020

2019

Contact-implicit trajectory optimization using variational integrators.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2019

A General Framework for Structured Learning of Mechanical Systems.

[BibT_eX]

[DOI]

Jayesh K. Gupta

Kunal Menda

CoRR, 2019

Robust direct trajectory optimization using approximate invariant funnels.

[BibT_eX]

[DOI]

Auton. Robots, 2019

A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization.

[BibT_eX]

[DOI]

Benoit Landry

Marco Pavone

Proceedings of the Robotics: Science and Systems XV, 2019

Bilevel Optimization for Planning Through Contact: A Semidirect Method.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, 2019

ALTRO: A Fast Solver for Constrained Trajectory Optimization.

[BibT_eX]

[DOI]

Brian E. Jackson

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

2018

Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIV, 2018

Bio-inspired Position Control of Satellite Constellations.

[BibT_eX]

[DOI]

Michael Rubenstein

Proceedings of the Distributed Autonomous Robotic Systems, 2018

2017

DIRTREL: Robust Trajectory Optimization with Ellipsoidal Disturbances and LQR Feedback.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIII, 2017

Variational Contact-Implicit Trajectory Optimization.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, The 18th International Symposium, 2017

Constrained unscented dynamic programming.

[BibT_eX]

[DOI]

Brian Plancher

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Planning cuts for mobile robots with bladed tools.

[BibT_eX]

[DOI]

Jeffrey I. Lipton

Daniela Rus

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

2016

Derivative-free trajectory optimization with unscented dynamic programming.

[BibT_eX]

[DOI]