6 papers
SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization
Zhuocheng Zhang, Haizhou Zhao, Xudong Sun +2
Robotic tasks involving contact interactions pose significant challenges for trajectory optimization due to discontinuous dynamics. Conventional formulations typically assume deter…
MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation
Ilyass Taouil, Michal Ciebelski, Shafeef Omar +4
We present MotionDisco, a framework that discovers contact-rich, long-horizon humanoid loco-manipulation motions from scratch, without relying on teleoperation or motion retargetin…
Hippo: High-performance Interior-Point and Projection-based Solver for Generic Constrained Trajectory Optimization
Haizhou Zhao, Ludovic Righetti, Majid Khadiv
Trajectory optimization is the core of modern model-based robotic control and motion planning. Existing trajectory optimizers, based on sequential quadratic programming (SQP) or di…
Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion
Victor Dhédin, Haizhou Zhao, Majid Khadiv
Legged robots have the potential to traverse highly constrained environments with agile maneuvers. However, planning such motions requires solving a highly challenging optimization…
Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models
Ilyass Taouil, Haizhou Zhao, Angela Dai +1
This paper uses the capabilities of latent diffusion models (LDMs) to generate realistic RGB human-object interaction scenes to guide humanoid loco-manipulation planning. To do so,…
Trajectory Optimization under Contact Timing Uncertainties
Haizhou Zhao, Majid Khadiv
Most interesting problems in robotics (e.g., locomotion and manipulation) are realized through intermittent contact with the environment. Due to the perception and modeling errors,…