Cover Image

CMC-Opt: Constraint Manifold with Corners for Inequality-Constrained Optimization

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Zhang, Yetong, Dellaert, Frank
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Variable Elimination in Hybrid Factor Graphs for Discrete-Continuous Inference & Estimation
by: Agrawal, Varun, et al.
Published: (2026)

A Group Theoretic Metric for Robot State Estimation Leveraging Chebyshev Interpolation
by: Agrawal, Varun, et al.
Published: (2024)

ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM
by: Zhang, Yuhao, et al.
Published: (2026)

Four Simple Proprioceptive Estimators for Legged Robots
by: Dellaert, Frank, et al.
Published: (2026)

Architectural-Scale Artistic Brush Painting with a Hybrid Cable Robot
by: Chen, Gerry, et al.
Published: (2024)

Manifold-Constrained MPPI: Real-Time Sampling-Based Control Under Hard Constraints
by: Lee, Seulchan, et al.
Published: (2026)

Smoothing Out the Edges: Continuous-Time Estimation with Gaussian Process Motion Priors on Factor Graphs
by: Holmes, Connor, et al.
Published: (2026)

Opt-in Camera: Person Identification in Video via UWB Localization and Its Application to Opt-in Systems
by: Ishige, Matthew, et al.
Published: (2024)

Exploiting Chordal Sparsity for Globally Optimal Estimation with Factor Graphs
by: Subramanian, Avinash, et al.
Published: (2026)

Fully Actuated Manifold Constraint Based Output Feedback Control for Input-Constrained Uncertain Nonlinear Systems
by: Mu, Dianrui, et al.
Published: (2026)

WING: Wheel-Inertial Neural Odometry with Ground Manifold Constraints
by: Jiang, Chenxing, et al.
Published: (2024)

Flow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimization
by: Idoko, Simon, et al.
Published: (2025)

Constraint Manifold Exploration for Efficient Continuous Coverage Estimation
by: Wilbrandt, Robert, et al.
Published: (2026)

Barrier Method for Inequality Constrained Factor Graph Optimization with Application to Model Predictive Control
by: Abdelkarim, Anas, et al.
Published: (2025)

CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization
by: Dong, Yifei, et al.
Published: (2024)

RetailOpt: Opt-In, Easy-to-Deploy Trajectory Estimation from Smartphone Motion Data and Retail Facility Information
by: Yonetani, Ryo, et al.
Published: (2024)

Uncertainty-driven 3D Gaussian Splatting Active Mapping via Anisotropic Visibility Field
by: Xue, Shangjie, et al.
Published: (2026)

Neural Visibility Field for Uncertainty-Driven Active Mapping
by: Xue, Shangjie, et al.
Published: (2024)

Dual-Branch INS/GNSS Fusion with Inequality and Equality Constraints
by: Levenhar, Mor, et al.
Published: (2026)

OptMap: Geometric Map Distillation via Submodular Maximization
by: Thorne, David, et al.
Published: (2025)

How Well do Diffusion Policies Learn Kinematic Constraint Manifolds?
by: Foland, Lexi, et al.
Published: (2025)

Stable Robot Motions on Manifolds: Learning Lyapunov-Constrained Neural Manifold ODEs
by: Boetius, David, et al.
Published: (2025)

Physics-informed Neural Motion Planning on Constraint Manifolds
by: Ni, Ruiqi, et al.
Published: (2024)

Safe Reinforcement Learning on the Constraint Manifold: Theory and Applications
by: Liu, Puze, et al.
Published: (2024)

Improving Out-of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds
by: Lin, Yating, et al.
Published: (2024)

Improved Corner Cutting Constraints for Mixed-Integer Motion Planning of a Differential Drive Micro-Mobility Vehicle
by: Caregnato-Neto, Angelo, et al.
Published: (2025)

Vectorizing Projection in Manifold-Constrained Motion Planning for Real-Time Whole-Body Control
by: Iyer, Shrutheesh R, et al.
Published: (2026)

Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation
by: Agrawal, Akshaya, et al.
Published: (2024)

Integrating End-to-End and Modular Driving Approaches for Online Corner Case Detection in Autonomous Driving
by: Kaljavesi, Gemb, et al.
Published: (2024)

Surface Constraint Policy for Learning Surface-Constrained and Dynamically Feasible Robot Skills
by: Ke, Shuai, et al.
Published: (2026)

ILCL: Inverse Logic-Constraint Learning from Temporally Constrained Demonstrations
by: Cho, Minwoo, et al.
Published: (2025)

Efficient Multi-Robot Motion Planning for Manifold-Constrained Manipulators by Randomized Scheduling and Informed Path Generation
by: Guo, Weihang, et al.
Published: (2024)

ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking
by: Huang, Weidong, et al.
Published: (2026)

Fisher-Preserving Guidance: Training-Free Manifold Constraints for Safe Diffusion Control
by: Ren, Hao, et al.
Published: (2026)

Differentiable Motion Manifold Primitives for Reactive Motion Generation under Kinodynamic Constraints
by: Lee, Yonghyeon
Published: (2024)

Optimizing NeRF-based SLAM with Trajectory Smoothness Constraints
by: He, Yicheng, et al.
Published: (2024)

Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
by: Liu, Fukang, et al.
Published: (2024)

Kinematic Model Optimization via Differentiable Contact Manifold for In-Space Manipulation
by: Negi, Abhay, et al.
Published: (2025)

GCImOpt: Learning efficient goal-conditioned policies by imitating optimal trajectories
by: Goikoetxea, Jon, et al.
Published: (2026)

Propagative Distance Optimization for Constrained Inverse Kinematics
by: Chen, Yu, et al.
Published: (2024)