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Sponsored AI Networking Cookbook: Practical recipes for AI-assisted network automation and development AI Networking Cookbook: Practical recipes for AI-assisted network automation and development

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Ian Abraham

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Preprint Sep 2026

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 chan...

Hrishikesh Sathyanarayan, Christian Hughes, Ian Abraham · 0 citations

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