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• SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos
  2023 · 17 citations
• Fast Contact-Implicit Model-Predictive Control
  2021 · 8 citations
• DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons
  2022 · 5 citations
• Bilevel Optimization for Planning through Contact: A Semidirect Method
  2019 · 3 citations
• Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC
  2024 · 2 citations
• Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
  2026
• The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control
  2025
• Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
  2025
• Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
  2019
• Differentiable Collision Detection for a Set of Convex Primitives
  2022
• TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers
  2023
• From Pixels to Torques with Linear Feedback
  2024
• Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots
  2024