Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation. - Victor Leve; João Moura 003; Namiko Saito; Steve Tonneau; Sethu Vijayakumar (Humanoids, 2024)

Scaling Whole-body Multi-contact Manipulation with Contact Optimization. - Victor Leve; João Moura 003; Sachiya Fujita; Tamon Miyake; Steve Tonneau; Sethu Vijayakumar (CoRR, 2025)