The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control. - Arun L. Bishop; Juan Alvarez-Padilla; Sam Schoedel; Ibrahima Sory Sow; Juee Chandrachud; Sheitej Sharma; Will Kraus; Beomyeong Park; Robert J. Griffin; John M. Dolan; Zachary Manchester (CoRR, 2025)