Global Contact-Rich Plann
Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations
Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations
arXiv:2502.02829v1 Announce Type: new
Abstract: We show that contact-rich motion planning is also sparsity-rich when viewed as polynomial optimization (POP). We can exploit not only the correlative and term sparsity patterns that are general to all POPs, but also specialized sparsity patterns from …
