| 2025 | ICRA | Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control. | Juan Alvarez-Padilla, John Z. Zhang, Sofia Kwok, John M. Dolan, Zachary Manchester |
| 2025 | ICRA | Wallbounce: Push Wall to Navigate with Contact-Implicit MPC. | Xiaohan Liu, Cunxi Dai, John Z. Zhang, Arun L. Bishop, Zachary Manchester, Ralph Hollis |
| 2025 | ICRA | Efficient Online Learning of Contact Force Models for Connector Insertion. | Kevin Tracy, Zachary Manchester, Ajinkya Jain, Keegan Go, Stefan Schaal, Tom Erez, Yuval Tassa |
| 2025 | ICRA | Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots. | Zixin Zhang, John Z. Zhang, Shuo Yang, Zachary Manchester |
| 2024 | CVPR | From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers. | Swaminathan Gurumurthy, Karnik Ram, Bingqing Chen, Zachary Manchester, Zico Kolter |
| 2024 | ICRA | ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control. | Arun L. Bishop, John Z. Zhang, Swaminathan Gurumurthy, Kevin Tracy, Zachary Manchester |
| 2024 | ICRA | VINSat: Solving the Lost-in-Space Problem with Visual-Inertial Navigation. | Kyle McCleary, Swaminathan Gurumurthy, Paulo R. M. Fisch, Saral Tayal, Zachary Manchester, Brandon Lucia |
| 2024 | ICRA | TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers. | Khai Nguyen, Sam Schoedel, Anoushka Alavilli, Brian Plancher, Zachary Manchester |
| 2024 | ICRA | Learning Covariances for Estimation with Constrained Bilevel Optimization. | Mohamad Qadri, Zachary Manchester, Michael Kaess |
| 2024 | IROS | Differentiable Collision-Free Parametric Corridors. | Jon Arrizabalaga, Zachary Manchester, Markus Ryll |
| 2023 | ICCV | PPR: Physically Plausible Reconstruction from Monocular Videos. | Gengshan Yang, Shuo Yang, John Z. Zhang, Zachary Manchester, Deva Ramanan |
| 2023 | ICRA | Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications. | Jeong Hun Lee, Mike Yan Michelis, Robert K. Katzschmann, Zachary Manchester |
| 2023 | ICRA | Enhanced Balance for Legged Robots Using Reaction Wheels. | Chi-Yen Lee, Shuo Yang, Benjamin Bokser, Zachary Manchester |
| 2023 | IROS | Multi-IMU Proprioceptive Odometry for Legged Robots. | Shuo Yang, Zixin Zhang, Benjamin Bokser, Zachary Manchester |
| 2023 | ICRA | Differentiable Collision Detection for a Set of Convex Primitives. | Kevin Tracy, Taylor A. Howell, Zachary Manchester |
| 2023 | ICRA | Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion. | Shuo Yang, Zixin Zhang, Zhengyu Fu, Zachary Manchester |
| 2023 | QCE | Direct Collocation for Quantum Optimal Control. | Aaron Trowbridge, Aditya Bhardwaj, Kevin He, David I. Schuster, Zachary Manchester |
| 2022 | CoRL | Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition. | Brian Edward Jackson, Jeong Hun Lee, Kevin Tracy, Zachary Manchester |
| 2022 | ISRR | CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints. | Taylor A. Howell, Kevin Tracy, Simon Le Cleac'h, Zachary Manchester |
| 2021 | ICRA | Linear-Quadratic Optimal Control in Maximal Coordinates. | Jan Brdigam, Zachary Manchester |
| 2021 | ICRA | ALTRO-C: A Fast Solver for Conic Model-Predictive Control. | Brian E. Jackson, Tarun Punnoose, Daniel Neamati, Kevin Tracy, Rianna M. Jitosho, Zachary Manchester |
| 2021 | WAFR | Linear-Time Variational Integrators in Maximal Coordinates. | Jan Brdigam, Zachary Manchester |
| 2020 | ICML | Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM. | Kunal Menda, Jean de Becdelivre, Jayesh K. Gupta, Ilan Kroo, Mykel J. Kochenderfer, Zachary Manchester |
| 2019 | IROS | ALTRO: A Fast Solver for Constrained Trajectory Optimization. | Taylor A. Howell, Brian E. Jackson, Zachary Manchester |
| 2019 | ISRR | Bilevel Optimization for Planning Through Contact: A Semidirect Method. | Benoit Landry, Joseph Lorenzetti, Zachary Manchester, Marco Pavone |
| 2017 | ICRA | Planning cuts for mobile robots with bladed tools. | Jeffrey I. Lipton, Zachary Manchester, Daniela Rus |
| 2017 | IROS | Constrained unscented dynamic programming. | Brian Plancher, Zachary Manchester, Scott Kuindersma |
| 2017 | ISRR | Variational Contact-Implicit Trajectory Optimization. | Zachary Manchester, Scott Kuindersma |