@article{certifiedgradientbasedcontactrichmanipul,
  title = {Certified Gradient-Based Contact-Rich Manipulation via Smoothing-Error Reachable Tubes},
  author = {Wei-Chen Li and Glen Chou},
  year = {2026},
  eprint = {2602.09368},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.09368},
}