2 citations · 2 across the 4 of their papers we have counts for
4 papers
FARO: Feasibility-Aware Robot Motion Optimization
Michal Ciebielski, Shafeef Omar, Aaron Johnson +1
Fast planning of novel behaviors in unseen scenarios remains a fundamental challenge in robotics. The high-dimensional, hybrid, and underactuated nature of humanoid loco-manipulati…
Last-iterate Convergence of ADMM on Multi-affine Quadratic Equality Constrained Problem
Yutong Chao, Michal Ciebielski, Jalal Etesami +1
In this paper, we study a class of non-convex optimization problems known as multi-affine quadratic equality constrained problems, which appear in various applications--from genera…
Task and Motion Planning for Humanoid Loco-manipulation
Michal Ciebielski, Victor Dhédin, Majid Khadiv
This work presents an optimization-based task and motion planning (TAMP) framework that unifies planning for locomotion and manipulation through a shared representation of contact…
Contact-conditioned learning of multi-gait locomotion policies
Michal Ciebielski, Federico Burgio, Majid Khadiv
In this paper, we examine the effects of goal representation on the performance and generalization in multi-gait policy learning settings for legged robots. To study this problem i…