3 papers
math.OC2026
Dual-Regularized Riccati Recursions for Interior-Point Optimal Control
João Sousa-Pinto, Dominique Orban
We derive closed-form extensions of the sequential and parallel Riccati recursions for solving dual-regularized linear-quadratic regulator (LQR) problems, with sequential ti…
math.OC2026
Quasi-Newton and Krylov Methods for the Solution of Nonconvex Trust-Region Subproblems
Johann Bourhis, Oihan Cordelier, Jean-Pierre Dussault +2
We study the solution of symmetric positive-definite linear systems by way of families of full- and limited-memory methods. Our contributions are threefold. We first derive new rel…
cs.RO2025
Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots
Lorenzo Amatucci, João Sousa-Pinto, Giulio Turrisi +3
This paper introduces a novel Model Predictive Control (MPC) implementation for legged robot locomotion that leverages GPU parallelization. Our approach enables both temporal and s…