publications

publications by categories in reversed chronological order. generated by jekyll-scholar.

2026

  1. sumo.gif
    Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
    John Z. Zhang, Maks Sorokin, Jan Brüdigam, Brandon Hung, Stephen Phillips, Dmitry Yershov, Farzad Niroui, Tong Zhao, Leonor Fermoselle, Xinghao Zhu, Chao Cao, Duy Ta, Tao Pang, Jiuguang Wang, Preston Culbertson, Zachary Manchester, and Simon Le Cléac’h
    arXiv preprint arXiv:2604.08508, Apr 2026
    arXiv PDF Code Website Video Demo
  2. trajectory_bundle_method.png
    The Trajectory Bundle Method: Unifying Sequential-Convex Programming and Sampling-Based Trajectory Optimization
    Kevin Tracy, John Z. Zhang, Jon Arrizabalaga, Stefan Schaal, Yuval Tassa, Tom Erez, and Zachary Manchester
    In IEEE International Conference on Robotics and Automation, Apr 2026
    arXiv PDF
  3. quadruped_handstand.gif
    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
    In IEEE International Conference on Robotics and Automation, Apr 2026
    arXiv PDF Website
  4. judo.gif
    Judo: An Open-Source Package for Sampling-Based Model Predictive Control
    Albert H. Li, John Zhang, Jan Brüdigam, Brandon Hung, Aaron D. Ames, Jiuguang Wang, Simon Le Cleac’h, and Preston Culbertson
    In IEEE International Conference on Robotics and Automation, May 2026
    Code Website

2025

  1. rai_sampling_blog.png
    Combining Sampling and Learning for Dynamic Whole-Body Manipulation
    RAI Institute Team
    May 2025
    Blog YouTube X LinkedIn
  2. wallbounce.png
    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, May 2025
    arXiv PDF Website
  3. mppi.png
    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, May 2025
    arXiv PDF Website
  4. attitude.png
    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, May 2025
    arXiv PDF
  5. leg_odometry.jpg
    Multi-IMU Sensor Fusion for Legged Robots
    Shuo Yang, Zixin Zhang, John Z. Zhang, Ibrahima Sow, and Zachary Manchester
    arXiv, May 2025
    arXiv PDF Code

2024

  1. push_recovery_cropped.gif
    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), May 2024
    PDF Code Video
  2. robust_trotting_lq.gif
    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, May 2024
    PDF Code
  3. hetnet.jpg
    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, May 2024
    PDF Code
  4. Advancing Legged Robot Agility: from Video Imitation to GPU Acceleration
    John Z. Zhang
    Carnegie Mellon University, Aug 2024
    PDF Video

2023

  1. dog_reach_compiled.gif
    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
  2. ppr_3d_prints.png
    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

  1. cc_cito.png
    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