Towards Tight Convex Relaxations for Contact-Rich Manipulation. - Bernhard Paus Graesdal; Shao Yuan Chew Chia; Tobia Marcucci; Savva Morozov; Alexandre Amice; Pablo A. Parrilo; Russ Tedrake (Robotics: Science and Systems, 2024)

GCS*: Forward Heuristic Search on Implicit Graphs of Convex Sets. - Shao Y. C. Chia; Rebecca H. Jiang; Bernhard P. Graesdal; Leslie Pack Kaelbling; Russ Tedrake (CoRR, 2024)

Multi-Query Shortest-Path Problem in Graphs of Convex Sets. - Savva Morozov; Tobia Marcucci; Alexandre Amice; Bernhard P. Graesdal; Rohan Bosworth; Pablo A. Parrilo; Russ Tedrake (CoRR, 2024)

Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization. - Lujie Yang; H. J. Terry Suh; Tong Zhao; Bernhard Paus Graesdal; Tarik Kelestemur; Jiuguang Wang; Tao Pang; Russ Tedrake (CoRR, 2025)

Mixed Discrete and Continuous Planning using Shortest Walks in Graphs of Convex Sets. - Savva Morozov; Tobia Marcucci; Bernhard Paus Graesdal; Alexandre Amice; Pablo A. Parrilo; Russ Tedrake (CoRR, 2025)