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• Modal Folding: Discovering Smooth Folding Patterns for Sheet Materials using Strain-Space Modes
• Maximal Safety Regions for 2D Robotic Arms as Low Degree Sum-Of-Squares Programming
• Efficient Polynomial Sum-Of-Squares Programming for Planar Robotic Arms
• A practical, fast method for solving sum-of-squares problems for very large polynomials
• Interacting with multi-robot systems via mixed reality
• Differentiable task assignment and motion planning
• A Mollification Scheme for Task and Motion Planning.