Regular matroids have polynomial extension complexity

We prove that the extension complexity of the independence polytope of every regular matroid on $n$ elements is $O(n^6)$. Past results of Wong and Martin on extended formulations of the spanning tree polytope of a graph imply a $O(n^2)$ bound for the special case of (co)graphic matroids. However, the case of a general regular matroid was open, despite recent attempts. We also consider the extension complexity of circuit dominants of regular matroids, for which we give a $O(n^2)$ bound.