Majid Khadiv

Technical University of Munich

収録論文 57本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 確率的到達可能動作検証：セットベース学習による視覚運動ポリシーの検証
  検証/到達可能性2026/8/3

  視覚エンコーダを固定し、下流ポリシーとの低次元インターフェースにセット伝播を限定することで、視覚運動ポリシーの到達可能性解析を効率化し、セットベース学習で動作偏差を直接最適化して確率的到達可能半径を縮小する手法を提案。

• Probabilistic Reachable-Action Verification of Visuomotor Policies via Set-Based Training
  2026/8/1
• PAC-DP: PAC-Bayesian Diffusion Policy Learning
  2026/7/1
• FARO: Feasibility-Aware Robot Motion Optimization
  2026/7/1
• MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation
  2026/6/1
• Guided Discovery of New Behaviors using Diffusion Policies
  2026/6/1
• Humanoid-DART: Humanoid Loco-Manipulation using Diffusion-guided Augmentation through Relabeling and Tracking
  2026/6/1
• Shield-Loco: Shielding Locomotion Policies with Predictive Safety Filtering
  2026/6/1
• SLowRL: Safe Low-Rank Adaptation Reinforcement Learning for Locomotion
  2026/3/1
• Safe-Night VLA: Seeing the Unseen via Thermal-Perceptive Vision-Language-Action Models for Safety-Critical Manipulation
  2026/3/1
• Hippo: High-performance Interior-Point and Projection-based Solver for Generic Constrained Trajectory Optimization
  2026/3/1
• DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization
  2026/2/1
• SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization
  2026/2/1
• Consensus-based optimization (CBO): Towards Global Optimality in Robotics
  2026/2/1
• Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning
  2025/10/1
• Task and Motion Planning for Humanoid Loco-manipulation
  2025/8/1
• Control of Legged Robots using Model Predictive Optimized Path Integral
  2025/8/1
• Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion
  2025/8/1
• UniConFlow: A Unified Constrained Flow-Matching Framework for Certified Motion Planning
  2025/6/1
• Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models
  2025/4/1
• Physically-Consistent Parameter Identification of Robots in Contact
  2024/9/1
• Contact-conditioned learning of multi-gait locomotion policies
  2024/8/1
• Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
  2024/8/1
• Safe Learning of Locomotion Skills from MPC
  2024/7/1
• Trajectory Optimization under Contact Timing Uncertainties
  2024/7/1
• Learning feasible transitions for efficient contact planning
  2024/7/1
• Learning-based legged locomotion; state of the art and future perspectives
  2024/6/1
• Diffusion-based learning of contact plans for agile locomotion
  2024/3/1
• Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty
  2023/9/1
• Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
  2022/10/1
• Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots
  2022/5/1
• On the Use of Torque Measurement in Centroidal State Estimation
  2022/2/1
• BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
  2022/1/1
• A unified framework for walking and running of bipedal robots
  2021/10/1
• Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent
  2021/8/1
• Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization
  2021/7/1
• Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control
  2020/11/1
• Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control
  2020/10/1
• DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain
  2020/10/1
• Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
  2020/10/1
• Robust walking based on MPC with viability guarantees
  2020/10/1
• Robot Learning with Crash Constraints
  2020/10/1
• TriFinger: An Open-Source Robot for Learning Dexterity
  2020/8/1
• Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance
  2020/5/1
• An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
  2019/10/1
• Learning Variable Impedance Control for Contact Sensitive Tasks
  2019/7/1
• Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning
  2019/7/1
• Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning
  2019/6/1
• A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations
  2018/10/1
• A Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion
  2017/10/1
• Rigid vs compliant contact: An experimental study on biped walking
  2017/9/1
• Pattern Generation for Walking on Slippery Terrains
  2017/8/1
• Walking Control Based on Step Timing Adaptation
  2017/4/1
• Online Adaptation for Humanoids Walking On Uncertain Surfaces
  2017/3/1
• Push Recovery of a Humanoid Robot Based on Model Predictive Control and Capture Point
  2016/12/1
• Step Timing Adjustment: A Step toward Generating Robust Gaits
  2016/10/1
• Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment
  2016/9/1