Luyao's Log

I am documenting my learning notes on numerical optimization and robotics.

ADMM

ADMM for quadratic programming

4 min read · August 02, 2025

2025
Augmented Lagrangian Methods

An introduction to Augmented Lagrangian Methods for constrained optimization

8 min read · June 27, 2025

2025
Contact Dynamics

Cone Complementarity Problem formulation for contact modeling

4 min read · June 23, 2025

2025
Interior Point Methods

Primal-dual interior point methods for quadratic programming

6 min read · June 17, 2025

2025
Linear Quadratic Problem

Solve LQPs using sparse linear solvers

4 min read · June 15, 2025

2025