SCSP is a cascaded optimization framework using a surrogate contact model and discrete-continuous search to enable simultaneous contact selection and planning for robust contact-rich manipulation.
Complementarity-free multi-contact modeling and optimization for dexterous manipulation,
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Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization
SCSP is a cascaded optimization framework using a surrogate contact model and discrete-continuous search to enable simultaneous contact selection and planning for robust contact-rich manipulation.