Amplify: A Lightweight Library for Reproducible Nonlinear Programming Problems in Robotics

arXiv:2609.28377 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Code: https://github.com/nr-codes/Amplify

Terminology

Benchmark — 8× in this paper · explained in 2 episodes
Core — 7× in this paper · explained in 2 episodes
Accuracy — 4× in this paper · explained in 1 episode
Composite Rigid Body Algorithm — 4× in this paper
Task Jacobian Algorithm — 4× in this paper
Modularity — 3× in this paper · explained in 9 episodes
Recursive Newton-Euler Algorithm — 3× in this paper
Sparsity — 3× in this paper · explained in 4 episodes
Abstraction — 2× in this paper · explained in 1 episode
Physical Constraints — 2× in this paper · explained in 7 episodes
Alignment — 1× in this paper · explained in 1 episode
American Control Conference — 1× in this paper
Benchmarking — 1× in this paper · explained in 3 episodes
Closed-Loop Control — 1× in this paper · explained in 3 episodes
Fidelity — 1× in this paper · explained in 2 episodes
Hybrid System — 1× in this paper · explained in 2 episodes
Introspection — 1× in this paper · explained in 2 episodes
Network-Enabled Optimization Server — 1× in this paper
Objective Function — 1× in this paper · explained in 2 episodes
Verification — 1× in this paper · explained in 2 episodes

Related papers