Paper Citation Record · LEDGER

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization

As of 16 August 2026, this Paper Citation Record lists 41 of 41 outbound references and 0 inbound Pith citation observations for arXiv:2602.06864.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2602.06864 v2

Coverage vector

measured 41 of 41 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-03T03:55:00.552317Z

measured 41 of 41 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-16T06:30:59.297886+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

41 of 41 outbound references displayed

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External citation measurements

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Outbound references

Observation 141ff84f-a136-464e-90c3-db6b03c12852 · outbound

This paper cites Simultaneous contact, gait, and motion planning for robust multilegged locomotion via mixed-integer convex optimization.IEEE Robotics and Automation Letters, 3(3):2531–2538, 2017.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Simultaneous contact, gait, and motion planning for robust multilegged locomotion via mixed-integer convex optimization.IEEE Robotics and Automation Letters, 3(3):2531–2538, 2017

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:58.192357Z

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Unavailable: canonical work link unavailable.

Observation 0c1bdc5b-6196-4a42-a828-204587f1d5da · outbound

This paper cites Casadi: a software frame- work for nonlinear optimization and optimal control.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Casadi: a software frame- work for nonlinear optimization and optimal control

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:58.257178Z

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Observation 17647d47-12d9-4acc-b56b-f83f0b817d5a · outbound

This paper cites Consensus complementarity control for multi-contact MPC.IEEE Transactions on Robotics, 2024.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Consensus complementarity control for multi-contact MPC.IEEE Transactions on Robotics, 2024

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:58.361622Z

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Observation 04be2928-6fd7-4342-aa93-d044af2d715d · outbound

This paper cites Learning variable impedance control for contact sensitive tasks.IEEE Robotics and Automation Letters, 5(4):6129–6136, 2020.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Learning variable impedance control for contact sensitive tasks.IEEE Robotics and Automation Letters, 5(4):6129–6136, 2020

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:58.509809Z

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Unavailable: canonical work link unavailable.

Observation 0fde2eee-a432-47ea-afec-8b458479e13c · outbound

This paper cites Model-free reinforcement learning for robust locomotion using demonstrations from trajectory opti- mization.Frontiers in Robotics and AI, 9:854212, 2022.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Model-free reinforcement learning for robust locomotion using demonstrations from trajectory opti- mization.Frontiers in Robotics and AI, 9:854212, 2022

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:58.612760Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 15dfc535-da29-4b82-85ab-5f173b28d678 · outbound

This paper cites The dynamics of runge–kutta methods.International Journal of Bifurca- tion and Chaos, 2(03):427–449, 1992.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization The dynamics of runge–kutta methods.International Journal of Bifurca- tion and Chaos, 2(03):427–449, 1992

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:58.722573Z

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Observation 2960ce39-67f8-4add-b33b-28b2b9ec1fe3 · outbound

This paper cites Task and motion planning for humanoid loco- manipulation.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Task and motion planning for humanoid loco- manipulation

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:58.796457Z

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Unavailable: canonical work link unavailable.

Observation 7b7f20a6-e9b5-4400-ad3d-c21ef90fc49d · outbound

This paper cites Footstep planning on uneven terrain with mixed-integer convex optimization.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Footstep planning on uneven terrain with mixed-integer convex optimization

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:58.964790Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 794bd1a4-4b04-426f-88f9-ef34e9c0cac9 · outbound

This paper cites Simul- taneous contact sequence and patch planning for dynamic locomotion.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Simul- taneous contact sequence and patch planning for dynamic locomotion

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:59.118605Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6f5197b0-29d1-4552-80c7-c639873a4afe · outbound

This paper cites Robust trajectory optimiza- tion over uncertain terrain with stochastic complementar- ity.IEEE Robotics and Automation Letters, 6(2):1168– 1175, 2021.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Robust trajectory optimiza- tion over uncertain terrain with stochastic complementar- ity.IEEE Robotics and Automation Letters, 6(2):1168– 1175, 2021

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:59.256964Z

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Observation f39bf295-2594-4294-b838-b337ee1abff8 · outbound

This paper cites HPIPM: a high- performance quadratic programming framework for model predictive control.IF AC-PapersOnLine, 53(2): 6563–6569, 2020.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization HPIPM: a high- performance quadratic programming framework for model predictive control.IF AC-PapersOnLine, 53(2): 6563–6569, 2020

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:59.367604Z

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Unavailable: canonical work link unavailable.

Observation 592da267-dc4b-4d18-a211-df6723d53d70 · outbound

This paper cites Nonlinear stochastic trajectory optimization for centroidal momentum motion generation of legged robots.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Nonlinear stochastic trajectory optimization for centroidal momentum motion generation of legged robots

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:59.503746Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bce558b6-2b78-4098-a7b4-ca0128ff8f8c · outbound

This paper cites Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:59.697291Z

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Unavailable: canonical work link unavailable.

Observation 9cdea6fd-bb3e-4aeb-aaf9-a4f1931ffe71 · outbound

This paper cites Perceptive locomotion through nonlinear model-predictive control.IEEE Trans- actions on Robotics, 39(5):3402–3421, 2023.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Perceptive locomotion through nonlinear model-predictive control.IEEE Trans- actions on Robotics, 39(5):3402–3421, 2023

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:59.762297Z

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Observation 413cba07-4e38-4bf9-bbf9-086032471ae2 · outbound

This paper cites Plan- ning for the unexpected: Explicitly optimizing motions for ground uncertainty in running.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Plan- ning for the unexpected: Explicitly optimizing motions for ground uncertainty in running

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:59.824958Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 58e5747c-a550-4608-a8ae-6175b1e7fa1c · outbound

This paper cites Impedance optimization for uncertain contact interactions through risk sensitive optimal control.IEEE Robotics and Automation Letters, 6(3):4766–4773, 2021.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Impedance optimization for uncertain contact interactions through risk sensitive optimal control.IEEE Robotics and Automation Letters, 6(3):4766–4773, 2021

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:59.868844Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b6bdb99f-d7f4-40c0-94a9-1b3096c64e26 · outbound

This paper cites On the similarities and differences among contact models in robot simulation.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization On the similarities and differences among contact models in robot simulation

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:59.928093Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a676b37a-2203-4d19-b70b-d7ee893e4096 · outbound

This paper cites A hybrid systems model for simple manip- ulation and self-manipulation systems.The International Journal of Robotics Research, 35(11):1354–1392, 2016.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization A hybrid systems model for simple manip- ulation and self-manipulation systems.The International Journal of Robotics Research, 35(11):1354–1392, 2016

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-03T03:54:59.988306Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5ad9bb82-6727-4c45-9142-79883db445ae · outbound

This paper cites Convergent planning.IEEE Robotics and Automation Letters, 1(2):1044–1051, 2016.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Convergent planning.IEEE Robotics and Automation Letters, 1(2):1044–1051, 2016

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.043336Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 700147e7-df23-4a3f-ab92-aa6b4ba4045c · outbound

This paper cites an unresolved cited work.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Unresolved cited work

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.104655Z

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Unavailable: canonical work link unavailable.

Observation ef573909-907f-40b9-81ce-8ae52dc0e374 · outbound

This paper cites Saltation matrices: The essential tool for linearizing hybrid dynamical systems.Proceedings of the IEEE, 2024.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Saltation matrices: The essential tool for linearizing hybrid dynamical systems.Proceedings of the IEEE, 2024

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.179505Z

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Unavailable: canonical work link unavailable.

Observation cb66ecc7-366b-47e5-9beb-46466a63be74 · outbound

This paper cites Con- tact models in robotics: a comparative analysis.IEEE Transactions on Robotics, 2024.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Con- tact models in robotics: a comparative analysis.IEEE Transactions on Robotics, 2024

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.226774Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5665d896-86d4-452a-bea9-a5ad3971e9f7 · outbound

This paper cites Learning quadrupedal locomotion over challenging terrain.Science robotics, 5 (47):eabc5986, 2020.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Learning quadrupedal locomotion over challenging terrain.Science robotics, 5 (47):eabc5986, 2020

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.279925Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3df96bd1-2978-4a74-af1e-b348b388473e · outbound

This paper cites Robust trajectory opti- mization under frictional contact with iterative learning.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Robust trajectory opti- mization under frictional contact with iterative learning

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.330062Z

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Unavailable: canonical work link unavailable.

Observation 8fe32a0b-765d-403b-88e6-2468b2833d53 · outbound

This paper cites Agile Maneuvers in Legged Robots: a Predictive Control Approach.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Agile Maneuvers in Legged Robots: a Predictive Control Approach

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.383442Z

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Unavailable: canonical work link unavailable.

Observation e1c5cdd4-6a16-46a3-9678-b045a2cc4aec · outbound

This paper cites Bi- ConMP: A nonlinear model predictive control framework for whole body motion planning.IEEE Transactions on Robotics, 39(2):905–922, 2023.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Bi- ConMP: A nonlinear model predictive control framework for whole body motion planning.IEEE Transactions on Robotics, 39(2):905–922, 2023

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.460129Z

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Observation da82aa24-4c6e-4097-aa2d-4d77b3b6ff3e · outbound

This paper cites Multiple shooting method for two-point boundary value problems.Communications of the ACM, 5(12): 613–614, 1962.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Multiple shooting method for two-point boundary value problems.Communications of the ACM, 5(12): 613–614, 1962

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.506293Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6b598db3-66d3-46f1-930f-11b8ff00d98b · outbound

This paper cites Contact-implicit tra- jectory optimization using orthogonal collocation.IEEE Robotics and Automation Letters, 4(2):2242–2249, 2019.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Contact-implicit tra- jectory optimization using orthogonal collocation.IEEE Robotics and Automation Letters, 4(2):2242–2249, 2019

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.509992Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 339b450d-047e-404c-bbcf-699cb78a1c3d · outbound

This paper cites Efficient multicontact pattern gen- eration with sequential convex approximations of the centroidal dynamics.IEEE Transactions on Robotics, 37(5):1661–1679, 2021.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Efficient multicontact pattern gen- eration with sequential convex approximations of the centroidal dynamics.IEEE Transactions on Robotics, 37(5):1661–1679, 2021

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.513763Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2adddb68-1100-452c-a82a-e50f74ac39ad · outbound

This paper cites Mathematical pro- grams with complementarity constraints: Stationarity, optimality, and sensitivity.Mathematics of Operations Research, 25(1):1–22, 2000.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Mathematical pro- grams with complementarity constraints: Stationarity, optimality, and sensitivity.Mathematics of Operations Research, 25(1):1–22, 2000

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.517263Z

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Unavailable: canonical work link unavailable.

Observation 2ff9100c-9bb9-4006-93b9-2af441daed98 · outbound

This paper cites Chance-constrained optimization for contact-rich systems using mixed integer programming.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Chance-constrained optimization for contact-rich systems using mixed integer programming

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.520421Z

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Unavailable: canonical work link unavailable.

Observation 6d259cf3-35bd-4fcb-a1e7-ea3f86c97a88 · outbound

This paper cites Sequence-of-constraints MPC: Reactive timing-optimal control of sequential manipula- tion.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Sequence-of-constraints MPC: Reactive timing-optimal control of sequential manipula- tion

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.523814Z

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Unavailable: canonical work link unavailable.

Observation fae60261-45c7-4f16-aada-ea404bb83553 · outbound

This paper cites Differentiable physics and stable modes for tool-use and manipulation planning.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Differentiable physics and stable modes for tool-use and manipulation planning

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.527060Z

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Observation a7b42106-f9e7-473e-b3f6-df5bd53efa05 · outbound

This paper cites Quadratic programming-based reference spreading control for dual- arm robotic manipulation with planned simultaneous impacts.IEEE Transactions on Robotics, 40:3341–3355, 2024.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Quadratic programming-based reference spreading control for dual- arm robotic manipulation with planned simultaneous impacts.IEEE Transactions on Robotics, 40:3341–3355, 2024

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.530101Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 73c99604-7055-4b68-81bd-0a580e2c58d2 · outbound

This paper cites On the imple- mentation of an interior-point filter line-search algorithm for large-scale nonlinear programming.Mathematical programming, 106(1):25–57, 2006.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization On the imple- mentation of an interior-point filter line-search algorithm for large-scale nonlinear programming.Mathematical programming, 106(1):25–57, 2006

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.533309Z

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Unavailable: canonical work link unavailable.

Observation 5990f79a-3a44-4184-8bb4-862d5f001b0a · outbound

This paper cites Impact-aware task-space quadratic- programming control.The International Journal of Robotics Research, 42(14):1265–1282, 2023.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Impact-aware task-space quadratic- programming control.The International Journal of Robotics Research, 42(14):1265–1282, 2023

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.536454Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7d8b8e39-a325-417a-89b9-902775b815d3 · outbound

This paper cites Optimization-based control for dynamic legged robots.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Optimization-based control for dynamic legged robots

Reference 37

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.539747Z

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Unavailable: canonical work link unavailable.

Observation ce50d600-085a-4440-a905-cae9293451d6 · outbound

This paper cites Impact-aware bimanual catching of large-momentum objects.IEEE Transactions on Robotics, 40:2543–2563, 2024.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Impact-aware bimanual catching of large-momentum objects.IEEE Transactions on Robotics, 40:2543–2563, 2024

Reference 38

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.542667Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 336c761a-9282-41b0-a222-9ae1518d763c · outbound

This paper cites Trajectory optimization under contact timing uncertainties.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Trajectory optimization under contact timing uncertainties

Reference 39

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.545748Z

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Unavailable: canonical work link unavailable.

Observation 80e4ade1-c6db-4cbe-918b-2a4667946957 · outbound

This paper cites Hybrid event shaping to stabilize periodic hybrid orbits.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Hybrid event shaping to stabilize periodic hybrid orbits

Reference 40

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.549253Z

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Unavailable: canonical work link unavailable.

Observation 7fcce982-9d02-4305-95ab-6d91001b5881 · outbound

This paper cites Con- vergent iLQR for safe trajectory planning and control of legged robots.

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization Con- vergent iLQR for safe trajectory planning and control of legged robots

Reference 41

Resolution: unresolved; no resolver link, observed 2026-08-03T03:55:00.552317Z

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Unavailable: canonical work link unavailable.

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