@misc{girgin2023projectionbased,
      title={Projection-based first-order constrained optimization solver for robotics}, 
      author={Hakan Girgin and Tobias Löw and Teng Xue and Sylvain Calinon},
      year={2023},
      eprint={2306.17611},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}