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)