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cs.RO2026
End-to-end QP-based policies: A unified perspective on robust control and robot learning
Fausto Vega, Priyanka Supraja Balaji, Chase Dunaway +3
We present an end-to-end QP-based policy framework that enables systematic policy construction with minimal domain-specific design, while preserving the transparency and interpreta…
cs.RO2026
mjorbit: A Simulation Framework for Space Robotics
John Z. Zhang, Joris Verhagen, Fausto Vega +2
This paper presents a general framework for simulating multi-body space robots with contact. We bring efficient, large-scale robot simulation to in-space servicing, assembly, and m…
cs.RO2026
TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics
Ishaan Mahajan, Jon Arrizabalaga, Andrea Grillo +4
Semidefinite programming (SDP) provides a principled framework for convex relaxations of nonconvex geometric constraints in motion planning, yet existing solvers are too computatio…