@article{factofunctionspaceadaptiveconstrainedtra,
  title = {FACTO: Function-space Adaptive Constrained Trajectory Optimization for Robotic Manipulators},
  author = {Yichang Feng and Xiao Liang and Minghui Zheng},
  year = {2026},
  eprint = {2602.20225},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.20225},
}