@article{physicsdrivendatagenerationforcontact,
  title = {Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization},
  author = {Lujie Yang and H. J. Terry Suh and Tong Zhao and Bernhard Paus Graesdal and Tarik Kelestemur and Jiuguang Wang and Tao Pang and Russ Tedrake},
  year = {2025},
  eprint = {2502.20382},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2502.20382v1},
}