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@ARTICLE{Ti_TRO_2024,
                      author = {Ti, Boyang and Gao, Y. and Zhao, Jie and Calinon, Sylvain},
                    keywords = {robot learning},
                    projects = {Idiap},
                       title = {An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks},
                     journal = {IEEE Transactions on Robotics (T-RO)},
                        year = {2024},
                         pdf = {https://publications.idiap.ch/attachments/papers/2024/Ti_TRO_2024.pdf}
}