# Contact-Implicit Trajectory Optimization With Learned Deformable Contacts Using Bilevel Optimization

> Research article (2021 IEEE International Conference on Robotics and Automation (ICRA), 2021) · cited 11× · AI/ML

**Wikidata**: [openalex:W3206316230](https://www.wikidata.org/wiki/openalex:W3206316230)  
**Source**: https://4ort.xyz/entity/contact-implicit-trajectory-optimization-with-learned-deformable-contacts-using-bilevel-optimization