@article{hippohighperformanceinteriorpointandproj,
  title = {Hippo: High-performance Interior-Point and Projection-based Solver for Generic Constrained Trajectory Optimization},
  author = {Haizhou Zhao and Ludovic Righetti and Majid Khadiv},
  year = {2026},
  eprint = {2603.00871},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.00871},
}