@article{impactanimplicitactivesetaugmentedlagran,
  title = {IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization},
  author = {Jiayun Li and Dejian Gong and Georgia Chalvatzaki},
  year = {2026},
  eprint = {2605.09127},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.09127},
}