Task and motion planning (TAMP) integrates high-level task planning and low-level motion
planning to equip robots with the autonomy to effectively reason over long-horizon, dynamic …

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

Industrial scheduling problems (ISPs), especially industrial production workshop scheduling
problems (IPWSPs) in various sectors like manufacturing, and power require allocating …

Recent advances in diffusion models have demonstrated their strong capabilities in
generating high-fidelity samples from complex distributions through an iterative refinement …

Trajectory optimization is a powerful tool for robot motion planning and control. State-of-the-
art general-purpose nonlinear programming solvers are versatile, handle constraints …

We present a new solver for non-convex trajectory optimization problems that is specialized
for robotics applications. CALIPSO, or the Conic Augmented Lagrangian Interior-Point …

Trajectory optimization (TO) has proven, over the last decade, to be a versatile and effective
framework for robot control. Several numerical solvers have been demonstrated to be fast …

The promise of model-predictive control in robotics has led to extensive development of
efficient numerical optimal control solvers in line with differential dynamic programming …

The force modulation of robotic manipulators has been extensively studied for several
decades. However, it is not yet commonly used in safety-critical applications due to a lack of …

This article proposes two decentralized multiagent optimal control methods that combine the
computational efficiency and scalability of differential dynamic programming (DDP) and the …