Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Contact-Implicit Trajectory Optimization with Hydroelastic Contact and
  iLQR   Contact-implicit trajectory optimization offers an appealing method of
automatically generating complex and contact-rich behaviors for robot
manipulation and locomotion. The scalability of such techniques has been
limited, however, by the challenge of ensuring both numerical reliability and
physical realism. In this paper, we present preliminary results suggesting that
the Iterative Linear Quadratic Regulator (iLQR) algorithm together with the
recently proposed pressure-field-based hydroelastic contact model enables
reliable and physically realistic trajectory optimization through contact. We
use this approach synthesize contact-rich behaviors like quadruped locomotion
and whole-arm manipulation. Furthermore, open-loop playback on a Kinova Gen3
robot arm demonstrates the physical accuracy of the whole-arm manipulation
trajectories. Code is available at https://bit.ly/ilqr_hc and videos can be
found at https://youtu.be/IqxJKbM8_ms .

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The categories of this paper are: stat
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The categories of this paper are: dg-ga
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The categories of this paper are: astro-ph
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The categories of this paper are: comp-gas
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The categories of this paper are: acc-phys
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The categories of this paper are: nucl-th
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The categories of this paper are: solv-int
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The categories of this paper are: math-ph
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The categories of this paper are: eess
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The categories of this paper are: quant-ph
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The categories of this paper are: patt-sol
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The categories of this paper are: cond-mat
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The categories of this paper are: q-bio
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The categories of this paper are: chem-ph
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The categories of this paper are: adap-org
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The categories of this paper are: supr-con