3 papers
cs.RO2026
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…
cs.RO2025
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…
cs.RO2025
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,…