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Single-Level Differentiable Contact Simulation


Dec 13, 2022
Simon Le Cleac'h, Mac Schwager, Zachary Manchester, Vikas Sindhwani, Pete Florence, Sumeet Singh

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Differentiable Physics Simulation of Dynamics-Augmented Neural Objects


Oct 20, 2022
Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo, Taylor A. Howell, Ruohan Gao, Jiajun Wu, Zachary Manchester, Mac Schwager

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


May 19, 2022
Taylor A. Howell, Simon Le Cleac'h, Kevin Tracy, Zachary Manchester

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Dojo: A Differentiable Simulator for Robotics


Mar 03, 2022
Taylor A. Howell, Simon Le Cleac'h, J. Zico Kolter, Mac Schwager, Zachary Manchester

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* submitted RSS 2022 

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Trajectory Optimization with Optimization-Based Dynamics


Sep 10, 2021
Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh, Pete Florence, Zachary Manchester, Vikas Sindhwani

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Linear Contact-Implicit Model-Predictive Control


Jul 12, 2021
Simon Le Cleac'h, Taylor Howell, Mac Schwager, Zachary Manchester

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ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games


Apr 17, 2021
Simon Le Cleac'h, Mac Schwager, Zachary Manchester

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* Submitted to Autonomous Robots (under review). arXiv admin note: text overlap with arXiv:1910.09713 

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


Nov 16, 2020
Simon Le Cleac'h, Mac Schwager, Zachary Manchester

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* Submitted to ICRA 2021 

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Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels


Nov 04, 2020
Remy Derollez, Simon Le Cleac'h, Zachary Manchester

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* submitted to IEEE Aerospace Conference (AeroConf2021), Big Sky, MT 

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ALGAMES: A Fast Solver for Constrained Dynamic Games


Oct 22, 2019
Simon Le Cleac'h, Mac Schwager, Zachary Manchester

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* 7 pages, 7 figures, submitted to International Conference on Robotics and Automation (ICRA) 2020 

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