Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots

作者：Lorenzo Amatucci, João Sousa-Pinto, Giulio Turrisi, Dominique Orban, Victor Barasuol, Claudio Semini · 单位：Dynamic Legged Systems Laboratory, Istituto Italiano di Tecnologia (IIT), Genova, Italy, Italian Institute of Technology · 会议/期刊：IEEE RA-L 2025 · 方向：2025 · 发布日期：2025