2 papers
cs.RO2026
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…
math.OC2026
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…