A hybrid controller samples low-dimensional end-effector targets for a contact-free stage then runs local complementarity MPC at each sample to approximate global contact-implicit optimization.
Global contact-rich planning with sparsity-rich semidefi- nite relaxations
2 Pith papers cite this work. Polarity classification is still indexing.
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ADMM for SDP attains local linear convergence under strict complementarity, independent of nondegeneracy.
citing papers explorer
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Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity
A hybrid controller samples low-dimensional end-effector targets for a contact-free stage then runs local complementarity MPC at each sample to approximate global contact-implicit optimization.
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Local Linear Convergence of the Alternating Direction Method of Multipliers for Semidefinite Programming under Strict Complementarity
ADMM for SDP attains local linear convergence under strict complementarity, independent of nondegeneracy.