Jon Arrizabalaga

I am a PhD student at the Munich Institute of Robotics and Machine Intelligence (MIRMI) at the Technical University of Munich (TUM) under the supervision of Prof. Markus Ryll. Since January 2024, I am located at the Robotics Institute (RI) at Carnegie Mellon University (CMU), advised by Prof. Zachary Manchester.

Before pursuing my doctoral studies, I obtained my MSc. degree in Robotics-Mechatronics at KTH Royal Institute of Technology (Sweden, 2020) and wrote the MSc. Thesis at the robotics department of Bosch Research (Germany, 2020).

My research interests lie at the intersection of system dynamics, control theory, numerical optimization, and machine learning, with a special focus on their applications to robotic and autonomous systems. More specifically, aiming to enhance the agility, efficiency, and robustness of such systems, I develop novel methods that unify perception, planning, and control in a transparent and understandable manner. For further details, check out my publications!

You can find more about me in an interview with undergrad students! If you find my work appealing or would like to connect, please get in touch. I am always looking for new collaborations.

News

May 07, 2025	I will be attending ICUAS and ICRA, let’s connect if you’re around!
May 03, 2025	I gave a talk at the Northeast Systems and Control Workshop at Columbia University
Apr 30, 2025	I was featured on Talking Robotics to talk about my work — full episode here

Publications

A Universal Formulation for Path-Parametric Planning and Control

Jon Arrizabalaga, Zbyněk Šı́r, Zachary Manchester, and 1 more author

Under review, 2025

Bib PDF Code Website Talk

@article{arrizabalaga2025universal,
  title = {A Universal Formulation for Path-Parametric Planning and Control},
  author = {Arrizabalaga, Jon and {\v{S}}{\'\i}r, Zbyn{\v{e}}k and Manchester, Zachary and Ryll, Markus},
  journal = {Under review},
  year = {2025},
}

Differentiable collision-free parametric corridors

Jon Arrizabalaga, Zachary Manchester, and Markus Ryll

IROS, 2024, Best Paper Finalist 🏆

Bib PDF Video Code Talk

Best Paper Finalist 🏆

@inproceedings{arrizabalaga2024differentiable,
  title = {Differentiable collision-free parametric corridors},
  author = {Arrizabalaga, Jon and Manchester, Zachary and Ryll, Markus},
  booktitle = {IROS},
  journal = {Proceedings of the International Conference on Intelligent Robots and Systems (IROS)},
  pages = {1839--1846},
  year = {2024},
  organization = {IEEE},
}

PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System

Jon Arrizabalaga, Fausto Vega, Zbyněk ŠÍR, and 2 more authors

IEEE Aero, 2025

Bib PDF Code Talk

@inproceedings{arrizabalaga2024phodcos,
  title = {PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System},
  author = {Arrizabalaga, Jon and Vega, Fausto and {\v{S}}{\'I}R, Zbyn{\v{e}}k and Manchester, Zachary and Ryll, Markus},
  booktitle = {IEEE Aero},
  journal = {Proceedings of the IEEE Aerospace Conference},
  year = {2025},
}

Geometric Slosh-Free Tracking for Robotic Manipulators

Jon Arrizabalaga, Lukas Pries, Riddhiman Laha, and 3 more authors

ICRA, 2024

Bib PDF Video Code Talk

@inproceedings{arrizabalaga2024geometric,
  title = {Geometric Slosh-Free Tracking for Robotic Manipulators},
  author = {Arrizabalaga, Jon and Pries, Lukas and Laha, Riddhiman and Li, Runkang and Haddadin, Sami and Ryll, Markus},
  booktitle = {ICRA},
  journal = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
  pages = {1226--1232},
  year = {2024},
  organization = {IEEE},
}

Learning for casadi: Data-driven models in numerical optimization

Tim Salzmann, Jon Arrizabalaga, Joel Andersson, and 2 more authors

L4DC, 2024

Bib PDF Code Talk

@inproceedings{salzmann2024learning,
  title = {Learning for casadi: Data-driven models in numerical optimization},
  author = {Salzmann, Tim and Arrizabalaga, Jon and Andersson, Joel and Pavone, Marco and Ryll, Markus},
  booktitle = {L4DC},
  journal = {Proceedings of the Learning for Dynamics \& Control Conference},
  pages = {541--553},
  year = {2024},
  organization = {PMLR},
}

Pose-following with dual quaternions

Jon Arrizabalaga and Markus Ryll

CDC, 2023

Bib PDF Code Talk

@inproceedings{arrizabalaga2023pose,
  title = {Pose-following with dual quaternions},
  author = {Arrizabalaga, Jon and Ryll, Markus},
  booktitle = {CDC},
  journal = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
  pages = {5959--5966},
  year = {2023},
  organization = {IEEE},
}

Real-time neural mpc: Deep learning model predictive control for quadrotors and agile robotic platforms

Tim Salzmann, Elia Kaufmann, Jon Arrizabalaga, and 3 more authors

IEEE RA-L, 2023

Bib PDF Code

@inproceedings{salzmann2023real,
  title = {Real-time neural mpc: Deep learning model predictive control for quadrotors and agile robotic platforms},
  author = {Salzmann, Tim and Kaufmann, Elia and Arrizabalaga, Jon and Pavone, Marco and Scaramuzza, Davide and Ryll, Markus},
  booktitle = {IEEE RA-L},
  journal = {IEEE Robotics and Automation Letters},
  volume = {8},
  number = {4},
  pages = {2397--2404},
  year = {2023},
  publisher = {IEEE},
}

Sctomp: Spatially constrained time-optimal motion planning

Jon Arrizabalaga and Markus Ryll

IROS, 2023

Bib PDF Video Talk

@inproceedings{arrizabalaga2023sctomp,
  title = {Sctomp: Spatially constrained time-optimal motion planning},
  author = {Arrizabalaga, Jon and Ryll, Markus},
  booktitle = {IROS},
  journal = {Proceedings of the International Conference on Intelligent Robots and Systems (IROS)},
  pages = {4827--4834},
  year = {2023},
  organization = {IEEE},
}

spatial_motion_planning_with_ph_curves/spatial_ph.png

Spatial motion planning with pythagorean hodograph curves

Jon Arrizabalaga and Markus Ryll

CDC, 2022

Bib PDF Video Talk

@inproceedings{arrizabalaga2022spatial,
  title = {Spatial motion planning with pythagorean hodograph curves},
  author = {Arrizabalaga, Jon and Ryll, Markus},
  booktitle = {CDC},
  journal = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
  pages = {2047--2053},
  year = {2022},
  organization = {IEEE},
}

Towards time-optimal tunnel-following for quadrotors

Jon Arrizabalaga and Markus Ryll

ICRA, 2022

Bib PDF Video

@inproceedings{arrizabalaga2022towards,
  title = {Towards time-optimal tunnel-following for quadrotors},
  author = {Arrizabalaga, Jon and Ryll, Markus},
  booktitle = {ICRA},
  journal = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
  pages = {4044--4050},
  year = {2022},
  organization = {IEEE},
}