  We compute roughness exponents of elastic d-dimensional manifolds in
(d+1)-dimensional embedding spaces at the depinning transition for d=1,...,4.
Our numerical method is rigorously based on a Hamiltonian formulation; it
allows to determine the critical manifold in finite samples for an arbitrary
convex elastic energy. For a harmonic elastic energy, we find values of the
roughness exponent between the one-loop and the two-loop functional
renormalization group result, in good agreement with earlier cellular automata
simulations. We find that the harmonic model is unstable with respect both to
slight stiffening and to weakening of the elastic potential. Anharmonic
corrections to the elastic energy allow us to obtain the critical exponents of
the quenched KPZ class.
