Luyao's Log

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

Linear Quadratic Problem

Solve LQPs using sparse linear solvers

4 min read · June 15, 2025

2025
Contact Dynamics

Mathematical formulation of contact dynamics

8 min read · June 01, 2025

2025
Linear Quadratic Problem

Solve LQPs using the Riccati recursion

11 min read · May 25, 2025

2025