CONF Chi_IROS_2025/IDIAP Efficient and Real-Time Motion Planning for Robotics Using Projection-Based Optimization Chi, Xuemin Girgin, Hakan Löw, Tobias Xie, Yangyang Xue, Teng Huang, Jihao Liu, Zhitao Calinon, Sylvain Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS) 2025