Preprint 2026
Plans contact-rich motions for legged robots and humanoids with up to 32 joints, and was the only method to solve every benchmark problem. Shown on hardware with a hopscotch on a Unitree Go2.
César E. Ramos Chuquiure, Ryan Tsai, Yutong Zhou, Zihang Huang, Vansh Thakur, Akshunn Trivedi, Zachary Lin, Pearl Lin, Ruikai Yang, Challen Enninful Adu, Ram Vasudevan
