@article{globalsamplingbasedtrajectoryoptimizatio,
  title = {Global Sampling-Based Trajectory Optimization for Contact-Rich Manipulation via KernelSOS},
  author = {Zhongqi Wei and Frederike Dümbgen},
  year = {2026},
  eprint = {2604.27175},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.27175},
}