A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming. - Mathew Halm; Michael Posa (WAFR, 2018)

Modeling and Analysis of Non-Unique Behaviors in Multiple Frictional Impacts. - Mathew Halm; Michael Posa (Robotics: Science and Systems, 2019)

ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations. - Samuel Pfrommer; Mathew Halm; Michael Posa (CoRL, 2020)

Fundamental Challenges in Deep Learning for Stiff Contact Dynamics. - Mihir Parmar; Mathew Halm; Michael Posa (IROS, 2021)

Set-Valued Rigid Body Dynamics for Simultaneous Frictional Impact. - Mathew Halm; Michael Posa (CoRR, 2021)

Generalization Bounded Implicit Learning of Nearly Discontinuous Functions. - Bibit Bianchini; Mathew Halm; Nikolai Matni; Michael Posa (L4DC, 2022)

Learning Linear Complementarity Systems. - Wanxin Jin; Alp Aydinoglu; Mathew Halm; Michael Posa (L4DC, 2022)

Simultaneous Learning of Contact and Continuous Dynamics. - Bibit Bianchini; Mathew Halm; Michael Posa (CoRL, 2023)

Set-valued rigid-body dynamics for simultaneous, inelastic, frictional impacts. - Mathew Halm; Michael Posa (Int. J. Robotics Res., 2024)

A biconvex method for minimum-time motion planning through sequences of convex sets. - Tobia Marcucci; Mathew Halm; Will Yang; Dongchan Lee; Andrew D. Marchese (CoRR, 2025)