SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization

• URL: http://arxiv.org/abs/2602.06864v1
• Date: Fri, 06 Feb 2026 16:50:59 GMT
• Title: SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization
• Abstract summary: SURE is a robust trajectory optimization framework that explicitly accounts for contact timing uncertainty.<n>We evaluate SURE on two representative tasks with unknown impact times.<n> SURE substantially enhances robustness compared to conventional nominal formulations.
• Score: 8.712271005822256
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Robotic tasks involving contact interactions pose significant challenges for trajectory optimization due to discontinuous dynamics. Conventional formulations typically assume deterministic contact events, which limit robustness and adaptability in real-world settings. In this work, we propose SURE, a robust trajectory optimization framework that explicitly accounts for contact timing uncertainty. By allowing multiple trajectories to branch from possible pre-impact states and later rejoin a shared trajectory, SURE achieves both robustness and computational efficiency within a unified optimization framework. We evaluate SURE on two representative tasks with unknown impact times. In a cart-pole balancing task involving uncertain wall location, SURE achieves an average improvement of 21.6% in success rate when branch switching is enabled during control. In an egg-catching experiment using a robotic manipulator, SURE improves the success rate by 40%. These results demonstrate that SURE substantially enhances robustness compared to conventional nominal formulations.

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