ResearchBenchmarksContact-Implicit Trajectory Optimization on CITO Push Box (test)Contact-Implicit Trajectory Optimization on CITO Push Box (test)Follow100Success RateSR97.9298.469999.54May 9, 2026Evaluation resultsMethodMethodLinksSuccess RateTracking ErrorIterationsSolve Time (s)SRhorizon (T)=50, time s...horizon (T)=50, time step (dt)=0.052026.0510019.461641.27CRISPhorizon (T)=50, time s...horizon (T)=50, time step (dt)=0.052026.0510051.96412.52IMPACThorizon (T)=50, time s...horizon (T)=50, time step (dt)=0.05, iteration_type=BCD sweeps2026.0510026.992190.15PMhorizon (T)=50, time s...horizon (T)=50, time step (dt)=0.052026.059858660.85