QTOS: An Open-Source Quadruped Trajectory Optimization Stack. - Alexy Skoutnev; Andrew Cinar; Praful Sigdel; Forrest Laine (CoRR, 2023)

Does bilevel optimization result in more competitive racing behavior? - Andrew Cinar; Forrest Laine (CoRR, 2024)

Polyhedral Collision Detection via Vertex Enumeration. - Andrew Cinar; Yue Zhao; Forrest Laine (CoRR, 2025)