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Sponsored AI Networking Cookbook: Practical recipes for AI-assisted network automation and development AI Networking Cookbook: Practical recipes for AI-assisted network automation and development

Author

Ruikai Yang

Shanghai Jiao Tong University

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Preprint Oct 2026

LEAP: Gradient Flow Augmented Lagrangian Trajectory Optimization for Contact Constrained Robots

Generating dynamically feasible motions for legged and manipulating robots requires solving a large, nonlinear, non-convex optimal control problem (OCP) in which contact wrenches must satisfy friction-cone constraints throughout the motion, not only at isolated instants. Existing solvers are sensitive to the initial gu...

César E. Ramos Chuquiure, Ryan Tsai, Yu-Tong Zhou et al. · 0 citations

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