Paper Citation Record · LEDGER

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking

As of 20 August 2026, this Paper Citation Record lists 34 of 34 outbound references and 0 inbound Pith citation observations for arXiv:2502.01329.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2502.01329 v1

Coverage vector

measured 34 of 34 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-09T15:42:48.462839Z

measured 34 of 34 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-20T06:33:59.587034+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

34 of 34 outbound references displayed

verified exact16
verified fuzzy13
unresolved5
parse uncertain0
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External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 55c7d385-2345-4408-9e89-c6a3fddf8263 · outbound

This paper cites ANYmal - toward legged robots for harsh environments,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking ANYmal - toward legged robots for harsh environments,

Reference 1

Resolution: verified exact; arxiv_id_nonexistent, observed 2026-08-09T15:42:51.113282Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 2a0a1ea7-db87-4ea4-8777-c13ffd0320b5 · outbound

This paper cites Boston Dynamics Spot,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Boston Dynamics Spot,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.446228Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation f86016e9-3241-4146-8041-29968db95121 · outbound

This paper cites Ghost Robotics VISION 60,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Ghost Robotics VISION 60,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.418018Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 17206092-292f-4a53-89c1-ff4ab4507529 · outbound

This paper cites Model predictive control of legged and humanoid robots: models and algorithms,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Model predictive control of legged and humanoid robots: models and algorithms,

Reference 4

Resolution: verified exact; arxiv_id_nonexistent, observed 2026-08-09T15:42:50.906562Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation d786bcac-b782-4838-ba7f-cd5b095bd7fc · outbound

This paper cites Recent Progress in Legged Robots Locomotion Control,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Recent Progress in Legged Robots Locomotion Control,

Reference 5

Resolution: verified exact; doi, observed 2026-08-09T15:42:48.580701Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 70484504-2b4c-49b9-a2ec-8b889a1a87cb · outbound

This paper cites Unitree Go2 Quadruped.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Unitree Go2 Quadruped

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.395271Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 2db42593-0056-4a96-8160-3d239385923b · outbound

This paper cites qpOASES: a parametric active-set algorithm for quadratic programming,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking qpOASES: a parametric active-set algorithm for quadratic programming,

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-09T15:42:48.281122Z

Source-reported events for the cited work

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Observation 00e40530-bc27-43e4-bbac-025d354b07e1 · outbound

This paper cites OSQP: An Operator Splitting Solver for Quadratic Programs.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking OSQP: An Operator Splitting Solver for Quadratic Programs

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-09T15:42:48.288141Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 78c4b190-e674-4c17-a7c5-1883563d3cb9 · outbound

This paper cites Distributed Optimization and Statistical Learning via the Alternating Direction Method of Multipliers,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Distributed Optimization and Statistical Learning via the Alternating Direction Method of Multipliers,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.370038Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 54f19c4b-2194-4bc4-9b9f-6eb9c39f9965 · outbound

This paper cites HPIPM: a high-performance quadratic programming framework for model predictive control *,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking HPIPM: a high-performance quadratic programming framework for model predictive control *,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.349140Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 8f0c720f-50ac-4d27-9251-c00f0d8b8c70 · outbound

This paper cites A sparse and condensed QP formulation for predictive control of LTI systems,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking A sparse and condensed QP formulation for predictive control of LTI systems,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.326921Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 8eb98c87-82df-4bf1-a7cc-c50efebf202c · outbound

This paper cites Controlling the level of sparsity in MPC,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Controlling the level of sparsity in MPC,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.303160Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 433e801d-61d3-43ba-a52c-de4a3614451b · outbound

This paper cites Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control,

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-09T15:42:48.324671Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d996f671-c669-4716-98cb-d147a928402c · outbound

This paper cites Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-09T15:42:48.330877Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9ae81568-90fc-4699-8ded-7bba472816bc · outbound

This paper cites A sparse model predictive control formulation for walking motion generation,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking A sparse model predictive control formulation for walking motion generation,

Reference 15

Resolution: verified exact; raw_fallback, observed 2026-08-09T15:42:50.418070Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 8d312be1-ac55-4a70-8a2c-f5514c703a0b · outbound

This paper cites qpbenchmark: Benchmark for quadratic programming solvers available in Python,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking qpbenchmark: Benchmark for quadratic programming solvers available in Python,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.278144Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 79c07f76-3dc1-4d96-b047-346eb573e785 · outbound

This paper cites Benchmarking large-scale distributed convex quadratic programming algorithms,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Benchmarking large-scale distributed convex quadratic programming algorithms,

Reference 17

Resolution: verified exact; arxiv_id_nonexistent, observed 2026-08-09T15:42:50.266074Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 0f6fcca1-436a-4310-aba5-7bf1a364c052 · outbound

This paper cites SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies

Reference 18

Resolution: verified exact; local_arxiv, observed 2026-08-09T15:42:50.058657Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation bcac3b60-8ce3-4ef7-9054-db67e6a933e7 · outbound

This paper cites SpaceBok: A Dynamic Legged Robot for Space Exploration,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking SpaceBok: A Dynamic Legged Robot for Space Exploration,

Reference 19

Resolution: verified exact; raw_fallback, observed 2026-08-09T15:42:50.024635Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 8ce708c8-1be6-4251-ab9f-45544e507119 · outbound

This paper cites Real-time Model Predictive Control for Versatile Dynamic Motions in Quadrupedal Robots,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Real-time Model Predictive Control for Versatile Dynamic Motions in Quadrupedal Robots,

Reference 20

Resolution: verified exact; raw_fallback, observed 2026-08-09T15:42:49.856772Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation f93b4cae-4dde-4d27-a89c-7ad098fe2d12 · outbound

This paper cites An efficient implementation of partial condensing for Nonlinear Model Predictive Control,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking An efficient implementation of partial condensing for Nonlinear Model Predictive Control,

Reference 21

Resolution: verified exact; raw_fallback, observed 2026-08-09T15:42:49.676445Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation c5e5c722-a3df-4509-b6ee-e87f1085b900 · outbound

This paper cites Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors,

Reference 22

Resolution: verified exact; doi, observed 2026-08-09T15:42:48.549214Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 44076fbd-67bc-4ed0-b825-fe2418ffad90 · outbound

This paper cites Green HPC: From Nice to Necessity,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Green HPC: From Nice to Necessity,

Reference 23

Resolution: verified exact; raw_fallback, observed 2026-08-09T15:42:49.506004Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation bd1e50c8-5011-4525-83f5-2dc3d7e8ddf4 · outbound

This paper cites Drake: Model-based design and verification for robotics,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Drake: Model-based design and verification for robotics,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.256102Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation b0f1f3db-d254-4716-837a-b133c6fb6ffd · outbound

This paper cites acados—a modular open-source framework for fast embedded optimal control,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking acados—a modular open-source framework for fast embedded optimal control,

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-09T15:42:48.398564Z

Source-reported events for the cited work

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Observation 1d63b377-4c1a-49c3-9eb5-c51bb1de9845 · outbound

This paper cites ARC-OPT: Adaptive Robot Control using Optimization,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking ARC-OPT: Adaptive Robot Control using Optimization,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.230793Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation f7883050-b7ae-4cfb-9211-f38fcb351192 · outbound

This paper cites Whole-Body Control of Series-Parallel Hybrid Robots,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Whole-Body Control of Series-Parallel Hybrid Robots,

Reference 27

Resolution: verified exact; raw_fallback, observed 2026-08-09T15:42:49.275691Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation b6f83c8d-4977-4f92-a403-565ff3d97be6 · outbound

This paper cites A Dual Active-Set Solver for Embedded Quadratic Programming Using Recursive LDL$ˆ{T}$ Updates,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking A Dual Active-Set Solver for Embedded Quadratic Programming Using Recursive LDL$ˆ{T}$ Updates,

Reference 28

Resolution: verified exact; raw_fallback, observed 2026-08-09T15:42:49.126995Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 55f52105-5df0-4367-93f0-e35ee3228066 · outbound

This paper cites eiquadprog,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking eiquadprog,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.203352Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation dde7a211-b173-4c53-874a-de0c527faf8b · outbound

This paper cites PROX- QP: Yet another Quadratic Programming Solver for Robotics and beyond,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking PROX- QP: Yet another Quadratic Programming Solver for Robotics and beyond,

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.178116Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation d1bc3c77-75d9-4ae9-9975-750f7a4db33f · outbound

This paper cites A numerically stable dual method for solving strictly convex quadratic programs,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking A numerically stable dual method for solving strictly convex quadratic programs,

Reference 31

Resolution: verified exact; doi, observed 2026-08-09T15:42:48.512107Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 8345c7ab-f7ed-4594-acd0-dac3fecb0ba7 · outbound

This paper cites High-performance small-scale solvers for linear Model Predictive Control,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking High-performance small-scale solvers for linear Model Predictive Control,

Reference 32

Resolution: verified exact; raw_fallback, observed 2026-08-09T15:42:48.943779Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 9471ad85-7289-47f7-abab-08566434d4a4 · outbound

This paper cites An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion

Reference 33

Resolution: verified exact; local_arxiv, observed 2026-08-09T15:42:48.607697Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation d4616fcf-86a4-477e-ba87-24f45dec0195 · outbound

This paper cites Active set vs. interior point strategies for model predictive control,.

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking Active set vs. interior point strategies for model predictive control,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T15:42:51.143557Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Pith citing papers

No inbound Pith citation observations are available.