Zachary Olkin
Scholar

Zachary Olkin

Google Scholar ID: 9bsrJHQAAAAJ
PhD Student, California Institute of Technology
Robotics and Control Theory
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Citations & Impact
All-time
Citations
33
 
H-index
2
 
i10-index
1
 
Publications
11
 
Co-authors
0
 
Contact
GitHubOpen ↗
Publications
8 items
Generate, Track, Improve: Perceptive Multi-Skill Humanoid Locomotion with RL-Fine-Tuned Motion Generators
2026
Cited
0
Learning Safe Humanoid Navigation from Reduced Order Models
2026
Cited
0
Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy
2026
Cited
0
Stability of Control Lyapunov Function Guided Reinforcement Learning
2026
Cited
0
Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running
2026
Cited
0
Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning
2025
Cited
0
CLF-RL: Control Lyapunov Function Guided Reinforcement Learning
2025
Cited
0
Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control
2025
Cited
0
Resume
Academic Achievements
  • Research projects include:
  • - Autonomous Quadrotor Trajectory Planning and Control for In-Flight Aerial Vehicle Capture
  • - Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation
  • - Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning (CLF-RL)
  • - Custom Drone for First Responders
  • - Drone Dock Cruise Control
  • - Indoor Flight Lab Synthetic GPS
  • - Layered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid Systems
  • - Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control