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.
On the surprising robustness of sequential convex optimization for contact-implicit motion planning
2 Pith papers cite this work. Polarity classification is still indexing.
2
Pith papers citing it
years
2026 2verdicts
UNVERDICTED 2representative citing papers
New real-time hybrid MPC schemes solve QPCCs per sample to yield bounded-error piecewise affine approximations to discontinuous MPC feedback laws for systems with switches.
citing papers explorer
-
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.
-
Real-Time Algorithms for Model Predictive Control of Hybrid Dynamical Systems
New real-time hybrid MPC schemes solve QPCCs per sample to yield bounded-error piecewise affine approximations to discontinuous MPC feedback laws for systems with switches.