193 citations · 386 across the 51 of their papers we have counts for
6 papers · 1 filter
Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning
Shafeef Omar, Majid Khadiv
We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for…
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…
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…
Control of Legged Robots using Model Predictive Optimized Path Integral
Hossein Keshavarz, Alejandro Ramirez-Serrano, Majid Khadiv
Legged robots possess a unique ability to traverse rough terrains and navigate cluttered environments, making them well-suited for complex, real-world unstructured scenarios. Howev…
UniConFlow: A Unified Constrained Flow-Matching Framework for Certified Motion Planning
Zewen Yang, Xiaobing Dai, Dian Yu +4
Generative models have become increasingly powerful tools for robot motion generation, enabling flexible and multimodal trajectory generation across various tasks. Yet, most existi…
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,…