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math.OC2026
CCOpt: an Open-Source Solver for Large-Scale Mathematical Programs with Complementarity Constraints
Anton Pozharskiy, François Pacaud, Moritz Diehl +1
This paper presents the Julia package CCOpt, built on top of the interior-point solver MadNLP. CCOpt implements a suite of algorithms for Mathematical Programs with Complementarity…
cs.RO2026
Robust Rigid Body Assembly via Contact-Implicit Optimal Control with Exact Second-Order Derivatives
Christian Dietz, Sebastian Albrecht, Gianluca Frison +2
Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods…
eess.SY2026
Identification of a Kalman filter: consistency of local solutions
Léo Simpson, Moritz Diehl
Prediction error and maximum likelihood methods are powerful tools for identifying linear dynamical systems and, in particular, enable the joint estimation of model parameters and…