publications

2024

1. 

   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

2. 

   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

2023

1. 

   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, 2023

   PDF Code Website

2. 

   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), 2023

   PDF Code Website
3. Robust Low‑Drift Multi‑Sensor Visual‑Inertial‑Leg Odometry for Legged Robots

   Shuo Yang, Zixin Zhang, Ibrahima Sow, John Z. Zhang, and Zachary Manchester

   under review at IEEE Transactions on Robotics, 2023
4. 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

   under review at IEEE Transactions on Robotics, 2023

2021

1. 

   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), 2021

   PDF Code