Our paper From centroidal to whole-body models for legged locomotion: a comparative analysis with Ewen Dantec, has been accepted at the 2024 IEEE RAS Humanoids conference which will take place in Nancy, France in November.

In this paper, we investigate a comparison of using whole-body and two different reduced-order models for nonlinear model-predictive control on bipedal robots, using our optimal control library aligator (which has recently reached 100 stars on GitHub!)

We will be there in November to present our work, and perhaps more 😃

Check out the preprint here 📑

Our paper Parallel and Proximal Linear-Quadratic Methods for Real-Time Constrained Model-Predictive Control has been accepted at Robotics: Science and Systems (RSS) 2024!

It introduces a parallel direct method for solving the regularised linear system for the Newton step in either augmented Lagrangian or interior-point methods for nonlinear MPC.

I will be in Delft this week for the presentation on Tuesday morning.

Check it out here from the programme.

We have released our nonlinear trajectory optimization library aligator.
Check out the repo here.

We have publicly released our nonlinear programming library proxsuite-nlp.

We have submitted a new journal paper, PROXDDP: Proximal Constrained Trajectory Optimization.

Check out our preprint here.

Our paper Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control (authored by Quentin le Lidec) was accepted at ICRA 2023.

Our paper Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach has been accepted at IROS 2022.

Check out the preprint here.

Our paper Implicit Differential Dynamic Programming has been accepted at ICRA 2022! Check out the final version here.