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cs.RO2025★ 3 cited
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations
Yuki Shirai, Arvind Raghunathan, Devesh K. Jha
Designing trajectories for manipulation through contact is challenging as it requires reasoning of object \& robot trajectories as well as complex contact sequences simultaneously.…
math.OC2025
Constrained Optimization From a Control Perspective via Feedback Linearization
Runyu Zhang, Arvind Raghunathan, Jeff Shamma +1
Tools from control and dynamical systems have proven valuable for analyzing and developing optimization methods. In this paper, we establish rigorous theoretical foundations for us…