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Contact-Implicit Stein Projected ADMM for Discovery of Diverse Contact-Rich Manipulation Strategies
Contact-implicit trajectory optimization formulates contact-rich manipulation as a single constrained program; however, that single program run collapses onto one local optimum out of many equally valid contact modes, grasps, or push directions. As a consequence, the resulting manipulation strategy is reluctant to change and sensitive to initialization. In order to promote robust manipulation, this paper investigates how contact-implicit solvers can discover diverse contact-rich strategies. Our approach derives a variation of Consensus Alternating Direction Method of Multipliers (ADMM) combine
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-23T15:45:54.000Z
First collected: 2026-09-24T08:22:30.429Z. This is not the publication date.