2 citations · 3 across the 9 of their papers we have counts for
11 papers
Complementarity by Construction: A Lie-Group Approach to Solving Quadratic Programs with Linear Complementarity Constraints
Arun L. Bishop, Micah I. Reich, Zachary Manchester
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problem…
Implicit Primal-Dual Interior-Point Methods for Quadratic Programming
Jon Arrizabalaga, Zachary Manchester
This paper introduces a new method for solving quadratic programs using primal-dual interior-point methods. Instead of handling complementarity as an explicit equation in the Karus…
ADMM-based Continuous Trajectory Optimization in Graphs of Convex Sets
Lukas Pries, Jon Arrizabalaga, Zachary Manchester +1
This paper presents a numerical solver for computing continuous trajectories in non-convex environments. Our approach relies on a customized implementation of the Alternating Direc…
Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations
Xili Yi, Ying Xing, Zachary Manchester +1
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage…
Universal Dynamics with Globally Controlled Analog Quantum Simulators
Hong-Ye Hu, Abigail McClain Gomez, Liyuan Chen +6
Analog quantum simulators with global control fields have emerged as powerful platforms for exploring complex quantum phenomena. Despite these advances, a fundamental theoretical q…
From Pixels to Torques with Linear Feedback
Jeong Hun Lee, Sam Schoedel, Aditya Bhardwaj +1
We demonstrate the effectiveness of simple observer-based linear feedback policies for "pixels-to-torques" control of robotic systems using only a robot-facing camera. Specifically…