CRISP is a primal-only sequential convex programming solver with a weighted l1 penalty merit function that solves contact-implicit motion planning problems from all-zero initialization.
IFAC-PapersOnLine, 50(1):1463– 1469, 2017
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On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning
CRISP is a primal-only sequential convex programming solver with a weighted l1 penalty merit function that solves contact-implicit motion planning problems from all-zero initialization.