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cs.RO2026
System Identification under Constraints and Disturbance: A Bayesian Estimation Approach
Sergi Martinez, Steve Tonneau, Carlos Mastalli
We introduce a Bayesian system identification (SysID) framework for jointly estimating robot's state trajectories and physical parameters with high accuracy. It embeds physically c…
cs.RO2026
ODYN: An All-Shifted Non-Interior-Point Method for Quadratic Programming in Robotics and AI
Jose Rojas, Aristotelis Papatheodorou, Sergi Martinez +3
We introduce ODYN, a novel all-shifted primal-dual non-interior-point quadratic programming (QP) solver designed to efficiently handle challenging dense and sparse QPs. ODYN combin…