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Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
A Fully Implicit Method for Robust Frictional Contact Handling
Implicit Contact-Rich Manipulation Planning for a Manipulator with Insufficient Payload
Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control
An Experimental Validation of Contact-Implicit Trajectory Optimization for Manipulation
Martin Schmidt - The Connections Between Bilevel and Robust Optimization (ROW Talk)
Robust Pushing: Exploiting Quasi-static Belief Dynamics and Contact-informed Optimization
Contact-Implicit Differential Dynamic Programming for Model Predictive Control(2022 IROS)
Contact-Implicit Trajectory Optimization using an Analytically Solvable Contact Model
Lecture 25 Bilevel Optimization
Symbolic-decision-embedded bilevel optimization for long-horizon manipulation in dynamic environment
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Last Updated: August 21, 2026
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