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IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization

Fuente: arXiv

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Bibliographic Details
Main Authors:	Li, Jiayun, Gong, Dejian, Chalvatzaki, Georgia
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
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