Author

Jon Arrizabalaga

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Preprint Sep 2026

ElastiQP: An Always-Feasible QP Solver for Constrained Robot Control

As robot capabilities increase, quadratic programming (QP)-based controllers must account for a similarly increasing number of constraints to ensure safe, reliable operation. Yet, with each added constraint, this introduces more chances of momentary conflict: in which case, a QP solver that returns an"infeasible"status...

Daniel Morton, Jon Arrizabalaga, Zachary Manchester et al. · 0 citations

Preprint Sep 2026

End-to-end QP-based policies: A unified perspective on robust control and robot learning

We present an end-to-end QP-based policy framework that enables systematic policy construction with minimal domain-specific design, while preserving the transparency and interpretability of model-based control. The proposed policy representation supports both domain-randomized model-based auto-tuning, where policy para...

Fausto Vega, Priyanka Supraja Balaji, Chase Dunaway et al. · 0 citations

Preprint Sep 2026

Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization

We present a fast numerical method for safe continuous-time motion planning under Temporal Logic (TL) specifications. The method generates smooth continuous trajectories that remain collision-free while robustly satisfying temporal and logical task requirements. A central component of our method is the formulation of n...

Lukas Pries, Joris Verhagen, Jon Arrizabalaga et al. · 0 citations