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• Fundamental Challenges in Deep Learning for Stiff Contact Dynamics
  2021 · 20 citations
• Bipedal Walking on Constrained Footholds with MPC Footstep Control
  2023 · 14 citations
• Optimization-Based Control for Dynamic Legged Robots
  2022 · 3 citations
• A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming
  2019 · 1 citations
• Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion
  2023 · 1 citations
• Simultaneous Learning of Contact and Continuous Dynamics
  2023 · 1 citations
• LENS: LLM-guided Environment Simplification for Planning and Control in Clutter
  2026
• Object Reconstruction under Occlusion with Generative Priors and Contact-induced Constraints
  2025
• Active Tactile Exploration for Rigid Body Pose and Shape Estimation
  2025
• Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity
  2025
• Contact-Aware Controller Design for Complementarity Systems
  2019
• Stabilization of Complementarity Systems via Contact-Aware Controllers
  2020
• Set-Valued Rigid Body Dynamics for Simultaneous, Inelastic, Frictional Impacts
  2021
• Validating Robotics Simulators on Real-World Impacts
  2021
• Task-Driven Hybrid Model Reduction for Dexterous Manipulation
  2022