Publications

Single-Level Differentiable Contact Simulation
Robotics and Automation Letters (RA-L 2023, submitted),
S. Le Cleac’h M. Schwager, Z. Manchester, V. Sindhwani, P. Florence, S. Singh
paper video poster slides

Dojo: A Differentiable Physics Engine for Robotics
Transactions on Robotics (T-RO 2023, submitted),
S. Le Cleac’h*, T. Howell*, Z. Kolter, M. Schwager, Z. Manchester
paper video talk

Differentiable Physics Simulation of Dynamics-Augmented Neural Objects
Robotics and Automation Letters (RA-L 2023, submitted),
S. Le Cleac’h, H. Yu, M. Guo, T. Howell, R. Gao, J. Wu, Z. Manchester, M. Schwager
paper video poster slides

Fast Contact-Implicit Model Predictive Control
Transactions on Robotics (T-RO 2023, submitted),
S. Le Cleac’h*, T. Howell*, S. Yang, C. Lee, J. Zhang, A. Bishop, M. Schwager, Z. Manchester
paper video talk poster

Trajectory Optimization with Optimization-Based Dynamics
International Conference on Robotics and Automation (RA-L & ICRA 2022),
T. Howell, S. Le Cleac’h, M. Schwager, Z. Manchester
paper

ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games
Autonomous Robots (AuRo 2021),
S. Le Cleac’h, M. Schwager, Z. Manchester
paper video poster

LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning
Conference on Robotics and Automation (RA-L & ICRA 2021),
S. Le Cleac’h, M. Schwager, Z. Manchester
paper video

Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels
IEEE Aerospace Conference (AeroConf 2021),
R. Derollez, S. Le Cleac’h, Z. Manchester
paper

ALGAMES: A Fast Solver for Constrained Dynamic Games
Robotics: Science and Systems (RSS 2020),
S. Le Cleac’h, M. Schwager, Z. Manchester
paper video poster

Fast Solution of Optimal Control Problems with L1 Cost
Astrodynamics Specialist Conference (AAS/AIAA 2019),
S. Le Cleac’h, Z. Manchester
paper