 Covariance Steering for Uncertain Contact-rich SystemsIEEE International Conference on Robotics and Automation (ICRA), 2023 |
 Non-prehensile Planar Manipulation via Trajectory Optimization with
Complementarity ConstraintsIEEE International Conference on Robotics and Automation (ICRA), 2021 |
 Stability Analysis of Complementarity Systems with Neural Network
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 ContactNets: Learning Discontinuous Contact Dynamics with Smooth,
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