Pre- and Post-Contact Policy Decomposition for Planar Contact Manipulation Under Uncertainty. Koval, M., Pollard, N., & Srinivasa, S. In Robotics: Science and Systems, 2014.
bibtex   
@inproceedings{koval2014contactpomdp,
  title = {Pre- and Post-Contact Policy Decomposition for Planar Contact Manipulation Under Uncertainty},
  author = {Koval, M. and Pollard, N.S. and Srinivasa, S.S.},
  booktitle = rss,
  year = {2014}
}

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