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Differentiable Physics Simulation of Dynamics-Augmented Neural Objects., , , , , , , and . IEEE Robotics Autom. Lett., 8 (5): 2780-2787 (May 2023)Differentiable Collision Detection for a Set of Convex Primitives., , and . CoRR, (2022)ALTRO-C: A Fast Solver for Conic Model-Predictive Control., , , , , and . ICRA, page 7357-7364. IEEE, (2021)ALGAMES: A Fast Solver for Constrained Dynamic Games., , and . Robotics: Science and Systems, (2020)Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot., , , , , and . Robotics: Science and Systems, (2018)Direct Collocation for Quantum Optimal Control., , , , and . QCE, page 1278-1285. IEEE, (2023)Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates., , , and . CoRR, (2023)Training Structured Mechanical Models by Minimizing Discrete Euler-Lagrange Residual., , , and . CoRR, (2021)Differentiable Collision Detection for a Set of Convex Primitives., , and . ICRA, page 3663-3670. IEEE, (2023)Linear-Quadratic Optimal Control in Maximal Coordinates., and . ICRA, page 9775-9781. IEEE, (2021)