Posters and Spotlights

All accepted papers are available from the list below. Visit their posters and spotlight talks for more!

Spotlights

Morning session 9:50 - 10:00

• "MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints" by Maria Krinner, Angel Romero, Leonard Bauersfeld, Melanie Zeilinger, Andrea Carron, Davide Scaramuzza.

• "A Functional Newton Method with Sparse Gradient Projection for Motion Planning" by Jiayun Li, Georgia Chalvatzaki.

Afternoon session 15:15 - 15:25

• "Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry" by Mengchao Zhang, Devesh K. Jha, Arvind Raghunathan, Kris Hauser.

• "Optimizing at All Scales: Edge (Non)linear Model Predictive Control from MCUs to GPUs" by Emre Adabag, Xuyei Bu, Khai Nguyen, Samuel Schoedel, Anoushka Alavilli, Miloni Atal, William Gerard, Elakhya Nedumaran, Zachary Manchester, Brian Plancher.

Posters

Morning session 10:00 - 10:45

• "Distillation of Diffusion Models into Fast and Tractable Mixture of Experts" by Hongyi Zhou, Denis Blessing, Ge Li, Onur Celik, Xiaogang Jia, Gerhard Neumann, Rudolf Lioutikov.

• "Fast and Certifiable Trajectory Optimization" by Shucheng Kang, Xiaoyang Xu, Jay Sarva, Ling Liang, Heng Yang.

• "Logic-Geometric Planning and Control Using Graph of Tensor Networks" by Teng Xue, Amirreza Razmjoo, Suhan Shetty, Sylvain Calinon.

• "Configuration Space Distance Fields for Manipulation Planning" by Yiming Li, Xuemin Chi, Sylvain Calinon.

• "Trajectory Optimization on Matrix Lie Groups with Differential Dynamic Programming and Nonlinear Constraints" by Gokhan Alcan, Fares Abu-Dakka, Ville Kyrki.

• "A Tight Semidefinite Relaxation for Linear and Hybrid Optimal Control with Time Scaling" by Lujie Yang, Tobia Marcucci, Russ Tedrake.

• "A Framework for Specifying and Solving Nonlinear Optimal Control Problems" by Lander Vanroye, Ajay Suresha Sathya, Joris De Schutter, Wilm Decré.

• "Convex Geometric Motion Planning of Multi-Body Systems on Lie Groups via Variational Integrators and Sparse Moment Relaxation" by Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari.

• "Exploiting Parallelism in a QPALM-based Solver for Optimal Control" by Pieter Pas, Kristoffer Løwenstein, Daniele Bernardini, Panagiotis Patrinos.

Afternoon session 15:25 - 16:10

• "Learning Robot Control: From Reinforcement Learning to Differentiable Simulation" by Yunlong Song, Davide Scaramuzza.

• "Towards Solutions of Manipulation Tasks via Optimal Control of Projected Dynamical Systems" by Anton Pozharskiy, Armin Nurkanovic, Moritz Diehl.

• "Scalarizing Multi-Objective Robot Planning Problems using Weighted Maximization" by Nils Wilde, Stephen L. Smith, Javier Alonso-Mora.

• "BaB-ND: Long-Horizon Motion Planning with Branch-and-Bound and Neural Dynamics" by Keyi Shen, Jiangwei Yu, Huan Zhang, Yunzhu Li.

• "Reactive grasp and motion planning for adaptive mobile manipulation among obstacles" by Tomas Merva, Saray Bakker, Max Spahn, Ivan Virgala, Javier Alonso-Mora.

• "Leveraging augmented-Lagrangian techniques for efficiently differentiating over feasible and infeasible quadratic programs" by Fabian Schramm, Antoine Bambade, Quentin Le Lidec, Adrien Taylor, Justin Carpentier.

• "Model-Based Diffusion for Trajectory Optimization" by Chaoyi Pan, Zeji Yi, Guanya Shi, Guannan Qu.

• "Learning Sampling Distribution and Safety Filter for Autonomous Driving with VQ-VAE and Differentiable Optimization" by Simon Idoko, Basant Sharma, Arun Kumar Singh.

• "Physically Grounded Optimal Realizations of Symbolic Plans" by Andreu Matoses Gimenez, Nils Wilde, Christian Pek, Javier Alonso-Mora.