<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-05606519v2</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-01T03:26:24+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Towards Massively Parallel Motion Planning with Inverse Dynamics</title>
            <author role="aut">
              <persName>
                <forename type="first">Ioannis</forename>
                <surname>Tsikelis</surname>
              </persName>
              <email type="md5">a55de78f2f3d616fda3ada6c455649ee</email>
              <email type="domain">protonmail.com</email>
              <ptr type="url" target="https://itsikelis.github.io/"/>
              <idno type="idhal" notation="string">ioannis-tsikelis</idno>
              <idno type="idhal" notation="numeric">1533152</idno>
              <idno type="halauthorid" notation="string">3484281-1533152</idno>
              <idno type="ORCID">https://orcid.org/0009-0006-4338-2020</idno>
              <idno type="ARXIV">https://arxiv.org/a/tsikelis_i_1</idno>
              <affiliation ref="#struct-1475218"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Enrico</forename>
                <surname>Mingo Hoffman</surname>
              </persName>
              <email type="md5">731d79b18e7b5f52289f9f8ea5b00c6a</email>
              <email type="domain">gmail.com</email>
              <idno type="idhal" notation="string">enrico-mingo-hoffman</idno>
              <idno type="idhal" notation="numeric">1133288</idno>
              <idno type="halauthorid" notation="string">2487204-1133288</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=4HezbBsAAAAJ</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-2063-7490</idno>
              <affiliation ref="#struct-1475218"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Ioannis</forename>
                <surname>Tsikelis</surname>
              </persName>
              <email type="md5">871a8fac4959d2ce6713bf1fec5bdbc0</email>
              <email type="domain">inria.fr</email>
            </editor>
            <funder ref="#projanr-162602"/>
          </titleStmt>
          <editionStmt>
            <edition n="v1">
              <date type="whenSubmitted">2026-04-29 11:57:01</date>
            </edition>
            <edition n="v2" type="current">
              <date type="whenSubmitted">2026-04-29 16:52:39</date>
              <date type="whenModified">2026-05-01 03:20:55</date>
              <date type="whenReleased">2026-04-30 08:27:54</date>
              <date type="whenProduced">2026-04-29</date>
              <date type="whenEndEmbargoed">2026-04-29</date>
              <ref type="file" target="https://hal.science/hal-05606519v2/document">
                <date notBefore="2026-04-29"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-05606519v2/file/ICRA_LBR_Abstract.pdf" id="file-5607094-4804405">
                <date notBefore="2026-04-29"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="1587162">
                <persName>
                  <forename>Ioannis</forename>
                  <surname>Tsikelis</surname>
                </persName>
                <email type="md5">871a8fac4959d2ce6713bf1fec5bdbc0</email>
                <email type="domain">inria.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-05606519</idno>
            <idno type="halUri">https://hal.science/hal-05606519</idno>
            <idno type="halBibtex">tsikelis:hal-05606519</idno>
            <idno type="halRefHtml">2026</idno>
            <idno type="halRef">2026</idno>
            <availability status="restricted">
              <licence target="https://creativecommons.org/licenses/by/4.0/">CC BY 4.0 - Attribution<ref corresp="#file-5607094-4804405"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="INRIA_TEST">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="LORIA2">Publications du LORIA</idno>
            <idno type="stamp" n="INRIA-NANCY-GRAND-EST">INRIA Nancy - Grand Est</idno>
            <idno type="stamp" n="TESTALAIN1">TESTALAIN1</idno>
            <idno type="stamp" n="CENTRALESUPELEC">Ecole CentraleSupélec</idno>
            <idno type="stamp" n="UNIV-LORRAINE">Université de Lorraine</idno>
            <idno type="stamp" n="INRIA2">INRIA 2</idno>
            <idno type="stamp" n="LORIA">Laboratoire Lorrain de Recherche en Informatique et ses Applications</idno>
            <idno type="stamp" n="ANR">ANR</idno>
            <idno type="stamp" n="AM2I-UL">Pôle scientifique Automatique, Mathématiques, Informatique et leurs Intéractions de l'Université de Lorraine</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Towards Massively Parallel Motion Planning with Inverse Dynamics</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Ioannis</forename>
                    <surname>Tsikelis</surname>
                  </persName>
                  <email type="md5">a55de78f2f3d616fda3ada6c455649ee</email>
                  <email type="domain">protonmail.com</email>
                  <ptr type="url" target="https://itsikelis.github.io/"/>
                  <idno type="idhal" notation="string">ioannis-tsikelis</idno>
                  <idno type="idhal" notation="numeric">1533152</idno>
                  <idno type="halauthorid" notation="string">3484281-1533152</idno>
                  <idno type="ORCID">https://orcid.org/0009-0006-4338-2020</idno>
                  <idno type="ARXIV">https://arxiv.org/a/tsikelis_i_1</idno>
                  <affiliation ref="#struct-1475218"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Enrico</forename>
                    <surname>Mingo Hoffman</surname>
                  </persName>
                  <email type="md5">731d79b18e7b5f52289f9f8ea5b00c6a</email>
                  <email type="domain">gmail.com</email>
                  <idno type="idhal" notation="string">enrico-mingo-hoffman</idno>
                  <idno type="idhal" notation="numeric">1133288</idno>
                  <idno type="halauthorid" notation="string">2487204-1133288</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=4HezbBsAAAAJ</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-2063-7490</idno>
                  <affiliation ref="#struct-1475218"/>
                </author>
              </analytic>
              <monogr>
                <imprint/>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">GPU Parallelization</term>
                <term xml:lang="en">Optimal Control</term>
                <term xml:lang="en">Inverse Dynamics</term>
                <term xml:lang="en">Sequential Quadratic Programming</term>
              </keywords>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
              <classCode scheme="halTypology" n="UNDEFINED">Preprints, Working Papers, ...</classCode>
              <classCode scheme="halOldTypology" n="UNDEFINED">Preprints, Working Papers, ...</classCode>
              <classCode scheme="halTreeTypology" n="UNDEFINED">Preprints, Working Papers, ...</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>Parallel evaluation of robotic system environments is becoming increasingly popular in modern robotics applications for machine learning and stochastic control. At the same time, the field of model-based control has matured enough to provide solutions that cover the needs of sophisticated robotics platforms. However, few works address the parallelization of such solvers to be combined with the above approaches and accelerate research in robot planning and control.&lt;/p&gt;&lt;p&gt;We present preliminary results toward a novel implementation of a batched SQP solver for equality-constrained optimal control. After linearizing the dynamics in the SQP step, we employ a state-control equality constrained LQR solver. The additional equality constraints yield a structured system at each stage that can be solved via a Riccati-recursion-based block elimination.&lt;/p&gt;&lt;p&gt;We evaluate our approach on an inverse-dynamics-based optimal control problem, in contrast to the forward-dynamics formulations typical of related works. Our results demonstrate computational efficiency and structural advantages for massively parallel environments. Our implementation, available here, is developed in PyTorch, taking advantage of the library's batched linear algebra suite for parallelization.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-1475218" status="VALID">
          <idno type="RNSR">202524727Y</idno>
          <orgName>HUman CEntered roBOTics</orgName>
          <orgName type="acronym">HUCEBOT</orgName>
          <date type="start">2025-08-01</date>
          <date type="end">2029-10-31</date>
          <desc>
            <address>
              <addrLine>Robotique centrée sur l’humain Bâtiment Ada LovelaceCentre Inria de l'Université de Lorraine615 Rue du Jardin-Botanique, 54600 Villers-lès-Nancy</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.inria.fr/en/hucebot</ref>
          </desc>
          <listRelation>
            <relation active="#struct-129671" type="direct"/>
            <relation active="#struct-300009" type="indirect"/>
            <relation active="#struct-206040" type="direct"/>
            <relation active="#struct-411575" type="indirect"/>
            <relation active="#struct-413289" type="indirect"/>
            <relation name="UMR7503" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-129671" status="VALID">
          <idno type="RNSR">198618246Y</idno>
          <idno type="ROR">https://ror.org/03fcjvn64</idno>
          <orgName>Centre Inria de l'Université de Lorraine</orgName>
          <desc>
            <address>
              <addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/nancy</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300009" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-300009" status="VALID">
          <idno type="ROR">https://ror.org/02kvxyf05</idno>
          <orgName>Institut National de Recherche en Informatique et en Automatique</orgName>
          <orgName type="acronym">Inria</orgName>
          <desc>
            <address>
              <addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/en/</ref>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-206040" status="VALID">
          <idno type="IdRef">067077927</idno>
          <idno type="ISNI">0000000121795429</idno>
          <idno type="RNSR">198912571S</idno>
          <idno type="IdUnivLorraine">[UL]RSI--</idno>
          <idno type="ROR">https://ror.org/02vnf0c38</idno>
          <orgName>Laboratoire Lorrain de Recherche en Informatique et ses Applications</orgName>
          <orgName type="acronym">LORIA</orgName>
          <date type="start">2012-01-01</date>
          <desc>
            <address>
              <addrLine>Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.loria.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300009" type="direct"/>
            <relation active="#struct-411575" type="direct"/>
            <relation active="#struct-413289" type="direct"/>
            <relation name="UMR7503" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-411575" status="VALID">
          <idno type="IdRef">184443237</idno>
          <idno type="ROR">https://ror.org/019tcpt25</idno>
          <orgName>CentraleSupélec</orgName>
          <desc>
            <address>
              <addrLine>3, rue Joliot Curie,Plateau de Moulon,91192 GIF-SUR-YVETTE Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.centralesupelec.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-413289" status="VALID">
          <idno type="IdRef">157040569</idno>
          <idno type="IdUnivLorraine">[UL]100--</idno>
          <idno type="ROR">https://ror.org/04vfs2w97</idno>
          <orgName>Université de Lorraine</orgName>
          <orgName type="acronym">UL</orgName>
          <date type="start">2012-01-01</date>
          <desc>
            <address>
              <addrLine>34 cours Léopold - CS 25233 - 54052 Nancy cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-lorraine.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
      </listOrg>
      <listOrg type="projects">
        <org type="anrProject" xml:id="projanr-162602" status="VALID">
          <idno type="anr">ANR-24-CE33-0753</idno>
          <orgName>MeRLin</orgName>
          <desc>Robots multi-membres pour locomotion et manipulation à corps complet</desc>
          <date type="start">2024</date>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>