Towards Tight Convex Relaxations for Contact-Rich ManipulationJan 1, 2024·Bernhard P Graesdal,Shao YC Chia,Tobia Marcucci,Savva Morozov,Alexandre Amice,Pablo A Parrilo,Russ Tedrake· 0 min readpublicationLast updated on Jan 1, 2024 AuthorsBernhard P GraesdalAuthorsShao YC ChiaAuthorsTobia MarcucciAuthorsSavva MorozovAuthorsAlexandre AmiceAuthorsPablo A ParriloAuthorsRuss Tedrake← Multi-Query Shortest-Path Problem in Graphs of Convex Sets Jan 1, 2024Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares Sep 1, 2023 →