# Endpoint-Explicit Differential Dynamic Programming via Exact Resolution

arXiv: https://arxiv.org/abs/2503.03897 · HTML: https://mlsanity.com/paper/2503.03897/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 5 Mar 2025.

## Built on by (most cited first, 1 of 1)

- [ODYN: An All-Shifted Non-Interior-Point Method for Quadratic Programming in Robotics and AI](https://mlsanity.com/paper/2602.16005/) (2026)

## Abstract (arXiv)

We introduce a novel method for handling endpoint constraints in constrained differential dynamic programming (DDP). Unlike existing approaches, our method guarantees quadratic convergence and is exact, effectively managing rank deficiencies in both endpoint and stagewise equality constraints. It is applicable to both forward and inverse dynamics formulations, making it particularly well-suited for model predictive control (MPC) applications and for accelerating optimal control (OC) solvers. We demonstrate the efficacy of our approach across a broad range of robotics problems and provide a user-friendly open-source implementation within CROCODDYL.