ICRA 2026PastRoboticsOptimization
ICRA Workshop on Frontiers of Optimization for Robotics, 2nd Edition
ICRA Workship on FOR 2nd Edition
- Submission deadline
- Apr 13, 2026, 13:00 UTCOpenReview-synced 2026-04-13 13:00 UTC (as of 2026-06-23) — extensions on OpenReview are applied automatically; verify on the website.
- Submission portal
- OpenReview
- Notes
- Topics were auto-suggested and may be imprecise — edits welcome.
Accepted papers (45)
Fetched from OpenReview (v2) on 2026-06-10.
A Framework for Combining Optimization-Based and Analytic Inverse Kinematics
A Generalized Theorem of the Alternative for Certifiable Optimization with Redundant Constraints
A Novel Family of Zero-Order Optimization Algorithms derived by the Bayesian Learning Rule
Accelerating Diffusion Models for Adaptive Motion Planning in Dynamic Environments
Adversarial Physics-Informed Learning for Robust Optimal Safe Control in Time-Critical Environments: A Game-Theoretic Approach
An introduction to zero-order optimization techniques for robotics
Analytical Integral Global Trajectory Optimization with Contact Dynamics
Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles
CCosmo: A Conic First-Order Solver
Certifiable Factor Graph Optimization
CMC-Opt: Constraint Manifold with Corners for Inequality-Constrained Optimization
Complementarity by Construction: A Lie-Group Approach to Solving Quadratic Programs with Linear Complementarity Constraints
Concerning optimization parameters and preferences
Consensus-based Optimization (CBO) for trajectory optimization in Robotics
Continuous Trajectory Optimization in Non-convex Environments: A Local ADMM Solver for Graphs of Convex Sets
Convergence Analysis of ADMM for Multi-Affine Trajectory Optimization
Differentiable and Constrained Model Predictive Control on the GPU
End-to-End Hardware-Algorithm Co-Design for High-Rate FPGA-Accelerated Model Predictive Control on Tiny Drones
Exploiting Chordal Sparsity for Globally Optimal Estimation with Factor Graphs
FBGA: Fast and Flexible Velocity Planning for Time-Optimal Maneuvers
Flow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimization
frax: Fast Robot Kinematics and Dynamics in JAX
Frictional Contact-Implicit Inverse Dynamics via Complementarity-Constrained Optimization
Global Solvers for 3D Vision: Foundations, Frontiers, and a Call to the Robotics Community
Guided Flow Policy: Workshop Version
Implicit Primal-Dual Interior-Point Methods for Quadratic Programming
Infeasible optimization problems and the hierarchical augmented Lagrangian method in imitation learning
Integrating Gradient-Based MPC and Control Barrier Functions for Safe and Performant Control
Learning Legged MPC with Smooth Neural Surrogates
Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation
Learning What Matters: Task Tailored Dynamics Models through Differentiable MPC.
Low-Degree Implied Equalities for Strengthening Semidefinite Relaxations
MPX: Model Predictive Control in JAX
pAORRTC: GPU-Parallel Almost-Surely Asymptotically Optimal Planning
Parallel Structure-Exploiting Multistage Optimization in PIQP
Physics-Informed Convex MPC for Real-Time Locomotion of a Tendon-Driven Soft Quadruped
Real-World Deployment of Massively Parallel Sampling-Based MPC for Contact-Rich Manipulation
Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking
SBAMP: Sampling Based Adaptive Motion Planning
SBTO: Sampling-Based Trajectory Optimization for Dynamically-Feasible Retargeting
Sum of Costs Diffusion with Dynamic Guidance for Motion Planning
Tightening Mixed-Integer Convex Relaxations for Efficient Temporal Logic Motion Planning via Logic Network Flow
Time-Varying Optimization for the Control of Differentially Flat Systems With Input Constraints
Towards a Suite of Smoothing-Based Local Solvers for Contact-Rich Trajectory Optimization
Variance-Reduced MPPI: Workshop Version