Marble

A C++ solver for quadratic programs with linear complementarity constraints, with Python and Julia bindings.

Setup and Installation

Please see the installation instructions on the docs website for detailed instructions on building, installing, and using Marble in C++, Julia, and Python.

Attribution

If you use this work in your research, please cite it as follows:

@article{bishop2026complementarityconstructionliegroupapproach,
      title={Complementarity by Construction: A Lie-Group Approach to Solving Quadratic Programs with Linear Complementarity Constraints}, 
      author={Arun L. Bishop and Micah I. Reich and Zachary Manchester},
      year={2026},
      eprint={2604.11991},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2604.11991}, 
}