Instruct: Identify the main and secondary category of Arxiv papers based on the titles
Query: Contact-Implicit Trajectory Optimization Based on a Variable Smooth
  Contact Model and Successive Convexification
14
The categories of this paper are: math-ph
0
The categories of this paper are: hep-ph
11
The categories of this paper are: hep-lat
30
The categories of this paper are: q-alg
34
The categories of this paper are: chem-ph
10
The categories of this paper are: q-bio
8
The categories of this paper are: hep-ex
37
The categories of this paper are: supr-con
15
The categories of this paper are: nucl-ex
18
The categories of this paper are: econ
6
The categories of this paper are: astro-ph
4
The categories of this paper are: cond-mat
28
The categories of this paper are: alg-geom
16
The categories of this paper are: stat
9
The categories of this paper are: nlin
7
The categories of this paper are: hep-th