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


Apr 27, 2023
John Z. Zhang, Shuo Yang, Gengshan Yang, Arun L. Bishop, Deva Ramanan, Zachary Manchester

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


Feb 12, 2023
Jan Brüdigam, Stefan Sosnowski, Zachary Manchester, Sandra Hirche

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


Jan 17, 2023
Jeong Hun Lee, Mike Y. Michelis, Robert Katzschmann, Zachary Manchester

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* 8 pages, 6 figures, submitted to IEEE ICRA 2023 
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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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Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion


Sep 16, 2022
Shuo Yang, Zixin Zhang, Zhengyu Fu, Zachary Manchester

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* 7 pages, 6 figures, submitted to IEEE ICRA 2023 
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Differentiable Collision Detection for a Set of Convex Primitives


Jul 01, 2022
Kevin Tracy, Taylor A. Howell, Zachary Manchester

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DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons


Jul 01, 2022
Kevin Tracy, Taylor A. Howell, Zachary Manchester

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Low-latency Imaging and Inference from LoRa-enabled CubeSats


Jun 21, 2022
Akshay Gadre, Swarun Kumar, Zachary Manchester

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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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