“…Yet, they consider only tabletop pushing scenarios. Moreover, in general, experimental results in this domain are very limited, albeit with some notable exceptions (Mordatch et al, 2015;Mastalli et al, 2016;Neunert et al, 2017Neunert et al, , 2018Giftthaler et al, 2017;Carius et al, 2018;Winkler et al, 2018;Sleiman et al, 2019). Nonetheless, to the best of our knowledge, there is no experimental verification of CITO for constrained dynamic manipulation.…”