# Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty

> Research article (The International Journal of Robotics Research, 2015) · cited 59× · AI/ML

**Wikidata**: [openalex:W1883438135](https://www.wikidata.org/wiki/openalex:W1883438135)  
**Source**: https://4ort.xyz/entity/pre-and-post-contact-policy-decomposition-for-planar-contact-manipulation-under-uncertainty