{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/an-efficient-numerical-function-optimization","title":"An Efficient Numerical Function Optimization Framework for Constrained Nonlinear Robotic Problems","arxiv_id":"2501.17349","date":"2025-01-28","proceeding":null,"authors":["Sait Sovukluk","Christian Ott"],"abstract":"This paper presents a numerical function optimization framework designed for constrained optimization problems in robotics. The tool is designed with real-time considerations and is suitable for online trajectory and control input optimization problems. The proposed framework does not require any analytical representation of the problem and works with constrained block-box optimization functions. The method combines first-order gradient-based line search algorithms with constraint prioritization through nullspace projections onto constraint Jacobian space. The tool is implemented in C++ and provided online for community use, along with some numerical and robotic example implementations presented in this paper.","url_abs":"https://arxiv.org/abs/2501.17349v2","url_pdf":"https://arxiv.org/pdf/2501.17349v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"an-efficient-numerical-function-optimization","repo_url":"https://github.com/ssovukluk/enforcpp","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}