CALIPSO

A Differentiable Solver for Trajectory Optimization

with Conic and Complementarity Constraints

Taylor Howell

thowell@stanford.edu

Simon Le Cleac'h

simonlc@stanford.edu

Zachary Manchester

zacm@cmu.edu

Kevin Tracy

ktracy@cmu.edu

CALIPSO A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints Taylor Howell thowell@stanford.edu Simon Le Cleac'h simonlc@stanford.edu Zachary Manchester zacm@cmu.edu Kevin Tracy ktracy@cmu.edu
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