@article{robustpivotingmanipulationusingcontact,
  title = {Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization},
  author = {Yuki Shirai and Devesh K. Jha and Arvind U. Raghunathan},
  year = {2023},
  eprint = {2303.08965},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2303.08965v2},
}