2025 Whole-Body Model-Predictive Control of Legged Robots with MuJoCo John Z. Zhang, Taylor A. Howell, Zeji Yi, Chaoyi Pan, Guanya Shi, Guannan Qu, Tom Erez, Yuval Tassa, and Zachary Manchester 2025 arXiv PDF Website Wallbounce : Push wall to navigate with Contact-Implicit MPC Xiaohan Liu, Cunxi Dai, John Z. Zhang, Arun Bishop, Zachary Manchester, and Ralph Hollis In IEEE International Conference on Robotics and Automation, 2025 arXiv PDF Website 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, and Zachary Manchester In IEEE International Conference on Robotics and Automation, 2025 arXiv PDF Website Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots Zixin Zhang, John Z. Zhang, Shuo Yang, and Zachary Manchester In IEEE International Conference on Robotics and Automation, 2025 arXiv PDF Multi-IMU Sensor Fusion for Legged Robots Shuo Yang, Zixin Zhang, John Z. Zhang, Ibrahima Sow, and Zachary Manchester arXiv, 2025 arXiv PDF Code 2024 ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control Arun L. Bishop*, John Z. Zhang*, Swaminathan Gurumurthy, Kevin Tracy, and Zachary Manchester In IEEE International Conference on Robotics and Automation (*equal contribution), 2024 PDF Code Video Fast Contact Implicit Model Predictive Control Simon Le Cleac’h*, Taylor Howell*, Shuo Yang, Chiyen Lee, John Z. Zhang, Arun Bishop, Mac Schwager, and Zachary Manchester In IEEE Transactions on Robotics, 2024 PDF Code Heterogeneous Policy Networks for Composite Robot Team Communication and Coordination Esmaeil Seraj, Rohan Paleja, Luis Pimentel, Kin Man Lee, Zheyuan Wang, Daniel Martin, Matthew Sklar, John Z. Zhang, Zahi Kakish, and Matthew Gombolay In IEEE Transactions on Robotics, 2024 PDF Code Advancing Legged Robot Agility: from Video Imitation to GPU Acceleration John Z. Zhang Carnegie Mellon University, Aug 2024 PDF Video 2023 SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos John Z. Zhang, Shuo Yang, Gengshan Yang, Arun Bishop, Swaminathan Gurumurthy, Deva Ramanan, and Zachary Manchester In IEEE Robotics and Automation Letters, Aug 2023 PDF Code Website Video PPR: Physically Plausible Reconstruction from Monocular Videos Gengshan Yang, Shuo Yang, John Z. Zhang, Zachary Manchester, and Deva Ramanan In IEEE/CVF International Conference on Computer Vision (Oral), Aug 2023 PDF Code Website 2021 Mediating between Contact Feasibility and Robustness of Trajectory Optimization through Chance Complementarity Constraints Luke Drnach*, John Z. Zhang*, and Ye Zhao In Frontiers in Robotics and AI (*equal contribution), Aug 2021 PDF Code
