3 papers
math.OC2026
Rake-Compress Riccati Recursions for Parallel Scenario-Tree Model Predictive Control
João Sousa-Pinto
Scenario-tree model predictive control (MPC) represents future information by a rooted tree and optimizes a nonanticipative policy over that tree. Numerical methods for solving the…
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…
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…