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cs.RO2026
LEAP: Gradient Flow Augmented Lagrangian Trajectory Optimization for Contact Constrained Robots
César E. Ramos Chuquiure, Ryan Tsai, Yutong Zhou +8
Generating dynamically feasible motions for legged and manipulating robots requires solving a large, nonlinear, non-convex optimal control problem (OCP) in which contact wrenches m…
cs.RO2026
Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper
Taekyung Kim, Aswin D. Menon, Akshunn Trivedi +1
This paper revisits three backup-based safety filters -- Backup Control Barrier Functions (Backup CBF), Model Predictive Shielding (MPS), and gatekeeper -- through a unified compar…