93 citations · 134 across the 9 of their papers we have counts for
3 papers · 1 filter
Elastic ODYN: Differentiable Optimization for Infeasible Control and Learning in Robotics
Aristotelis Papatheodorou, Jose Rojas, Ioannis Havoutis +1
Robotic systems routinely encounter conflicting objectives, modeling errors, and degenerate contact conditions that render quadratic programs (QPs) infeasible. Yet most optimizatio…
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…
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…