ci-SCvx introduces integral cross-complementarity constraints to continuous-time SCP for contact-implicit legged locomotion, achieving faster solves and lower energy in MuJoCo validation than MPC baselines.
Discovery of complex behaviors through contact-invariant optimization
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GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion
ci-SCvx introduces integral cross-complementarity constraints to continuous-time SCP for contact-implicit legged locomotion, achieving faster solves and lower energy in MuJoCo validation than MPC baselines.