arXiv Machine Learning June 16, 2026 By Aristotelis Papatheodorou, Jose Rojas, Ioannis Havoutis, Carlos Mastalli

Elastic ODYN: Differentiable Optimization for Infeasible Control and Learning in Robotics

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arXiv:2606. 16564v1 Announce Type: cross Abstract: Robotic systems routinely encounter conflicting objectives, modeling errors, and degenerate contact conditions that render quadratic programs (QPs) infeasible.

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