ElastiQP: An Always-Feasible QP Solver for Constrained Robot Control

arXiv:2609.19080 · cs.RO, math.OC · Submitted 2026-09-16 · Read on arXiv

cs.RO, math.OC

Submitted: 2026-09-16

Updated: 2026-09-16

Code: https://github.com/StanfordASL/elastiqp

Terminology

• Benchmark — 4× in this paper · explained in 2 episodes
• Sparsity — 4× in this paper · explained in 4 episodes
• Core — 3× in this paper · explained in 2 episodes
• Regularization — 3× in this paper · explained in 3 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Constrained Whole-Body Tracking for Humanoid Robots
• On the Differentiability of the Primal-Dual Interior-Point Method
• A Differentiable Interior-Point Method in Single Precision

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