Publications

Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
Under Review (2026),
J. Zhang, M. Sorokin, J. Brüdigam, B. Hung, S. Phillips, D. Yershov, F. Niroui, T. Zhao, L. Fermoselle, X. Zhu, C. Cao, D. Ta, T. Pang, J. Wang, P. Culbertson, Z. Manchester, S. Le Cleac’h
paper website

Generative Models From and For Sampling-Based MPC: A Bootstrapped Approach for Adaptive Contact-Rich Manipulation
Robotics and Automation Letters (RA-L 2026),
L. Brudermüller, B. Hung, X. Zhu, J. Wang, N. Hawes, P. Culbertson, S. Le Cleac’h
paper

Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control
International Conference on Robotics and Automation (ICRA 2026) A. Li, B. Hung, A. Ames, J. Wang, S. Le Cleac’h, P. Culbertson
paper code

Versatile Loco-Manipulation through Flexible Interlimb Coordination
9th Annual Conference on Robot Learning (CoRL 2025 Oral),
X. Zhu, Y. Chen, L. Sun, F. Niroui, S. Le Cleac’h, J. Wang, K. Fang
paper website

Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation
8th Annual Conference on Robot Learning (CoRL 2024),
J. Brüdigam, A. Abbas, M. Sorokin, K. Fang, B. Hung, M. Guru, S. Sosnowski, J. Wang, S. Hirche, S. Le Cleac’h
paper website

Single-Level Differentiable Contact Simulation
Robotics and Automation Letters (RA-L & IROS 2023),
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 & IROS 2023),
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),
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