3 papers
cs.RO2026
ContactIPM: A Structure-Exploiting Interior-Point Solver for Contact-Implicit Trajectory Optimization
Yucheng Chen
Contact-implicit trajectory optimization avoids prescribing contact sequences, but yields mathematical programs with complementarity constraints (MPCCs) whose degeneracy challenges…
cs.RO2026
Feasibility-Guided Planning over Multi-Specialized Locomotion Policies
Ying-Sheng Luo, Lu-Ching Wang, Hanjaya Mandala +6
Planning over unstructured terrain presents a significant challenge in the field of legged robotics. Although recent works in reinforcement learning have yielded various locomotion…
cs.RO2026
TurboADMM: A Structure-Exploiting Parallel Solver for Multi-Agent Trajectory Optimization
Yucheng Chen
Multi-agent trajectory optimization with dense interaction networks require solving large coupled QPs at control rates, yet existing solvers fail to simultaneously exploit temporal…