TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation - Chen, Claire; Culbertson, Preston; Lepert, Marion; Schwager, Mac; Bohg, Jeannette (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Intelligent Robots and Systems (IROS), 2021 IEEE/RSJ International Conference on, 2021)