7 papers
Real-Time Nonlinear MPC via Sequential Quadratic Programming with Structure-Exploiting ADMM and Interior-Point Methods for Underactuated Double-Pendulum Swing-Up
Nick Karydakis, Konstantinos Chatzilygeroudis
The 4th "AI Olympics with RealAIGym" competition, to be held at IJCAI-ECAI 2026 in Bremen, challenges participants to develop a global control policy for swinging up and stabilizin…
Hybrid Augmented Lagrangian Method for General Constrained Optimization via Evolutionary Algorithms
Lampros Printzios, Konstantinos Chatzilygeroudis
Constrained Optimization Problems are crucial in fields such as engineering, economics, and robotics, where high-dimensional search spaces and complex objectives and constraints ar…
PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion
Alexandros Ntagkas, Chairi Kiourt, Konstantinos Chatzilygeroudis
State-of-the-art perceptive Reinforcement Learning controllers for legged robots typically either (i) impose oscillator-or IK-based gait priors that constrain the action space, bia…
Learning and Optimization with 3D Orientations
Alexandros Ntagkas, Constantinos Tsakonas, Chairi Kiourt +1
There exist numerous ways of representing 3D orientations. Each representation has both limitations and unique features. Choosing the best representation for one task is often a di…
A Comparative Study of Floating-Base Space Parameterizations for Agile Whole-Body Motion Planning
Evangelos Tsiatsianas, Chairi Kiourt, Konstantinos Chatzilygeroudis
Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have…
Vector Quantized-Elites: Unsupervised and Problem-Agnostic Quality-Diversity Optimization
Constantinos Tsakonas, Konstantinos Chatzilygeroudis
Quality-Diversity algorithms have transformed optimization by prioritizing the discovery of diverse, high-performing solutions over a single optimal result. However, traditional Qu…