MK
Majid Khadiv
cs.ROcs.LGcs.AIcs.SYeess.SYmath.OCcontact uncertaintycs.GRdeep reinforcement learninglegged locomotion
On Valency
published · living versionsW_8w9zqdes·v1 · currentpublished
DiPLO: Self-distilled Diffusion Planning for Loco-manipulation
with Shafeef Omar, Sebastian Sanokowski, Elham Daneshmand, Dian Yu +2
1 version
Preprints & journals
58 papers in the corpus · 2016–2026DiPLO: Self-distilled Diffusion Planning for Loco-manipulation2610.24847v1 · Shafeef Omar, Sebastian Sanokowski, Elham Daneshmand et al.2026 · 0 citationsarXivon Valency
FERPO: Forward Entropy-Regularized Policy Optimization2610.02198v2 · Sebastian Sanokowski, Alireza Sarmadi, Majid Khadiv2026 · 0 citationsarXiv
Res-HIL: Human-Guided Residual Reinforcement Learning for Sample-Efficient Dexterous Manipulation2609.30023v1 · Mariia Iavorskaia, Christian Dietz, Sebastian Albrecht et al.2026 · 0 citationsarXiv
Adaptive-MHE : A Sampling-Based Adaptive MPC for Legged Loco-Manipulation via Moving Horizon Estimation2609.17832v1 · Hossein Keshavarz, Alejandro Ramirez-Serrano, Majid Khadiv2026 · 0 citationsarXiv
Probabilistic Reachable-Action Verification of Visuomotor Policies via Set-Based Training2608.02545v1 · Yanliang Huang, Zhuocheng Zhang, Peng Xie et al.2026 · 0 citationsarXiv
PAC-DP: PAC-Bayesian Diffusion Policy Learning2607.24296v1 · Mohammad Hasan Yeganegi, Dian Yu, Andrea Del Prete et al.2026 · 0 citationsarXiv
FARO: Feasibility-Aware Robot Motion Optimization2607.18362v1 · Michal Ciebielski, Shafeef Omar, Aaron Johnson et al.2026 · 0 citationsarXiv
SafeExplorer: An Unbiased Mixed-Policy Gradient for Reinforcement Learning with Recovery Interventions2607.08925v2 · Elham Daneshmand, Majid Khadiv, Glen Berseth et al.2026 · 0 citationsTransactions on Machine Learning Research (2026)
Humanoid-DART: Humanoid Loco-Manipulation using Diffusion-guided Augmentation through Relabeling and Tracking2606.26855v1 · Pranav Debbad, Kanish Thiagarajan, Victor Dh'edin et al.2026 · 0 citationsarXiv
Guided Discovery of New Behaviors using Diffusion Policies2606.08743v1 · Dian Yu, Sebastian Sanokowski, Majid Khadiv2026 · 0 citationsarXiv
Shield-Loco: Shielding Locomotion Policies with Predictive Safety Filtering2606.07193v1 · Aditya Shirwatkar, Sebastian Sanokowski, Shishir Kolathaya et al.2026 · 0 citationsarXiv
MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation2606.06139v1 · Ilyass Taouil, Michal Ciebelski, Shafeef Omar et al.2026 · 0 citationsarXiv
Convergence of Consensus-Based Particle Methods for Nonconvex Bi-Level Optimization2605.19667v1 · Yutong Chao, Xudong Sun, Konstantin Riedl et al.2026 · 0 citationsarXiv
SLowRL: Safe Low-Rank Adaptation Reinforcement Learning for Locomotion2603.17092v1 · Elham Daneshmand, Shafeef Omar, Glen Berseth et al.2026 · 0 citationsarXiv
Last-iterate Convergence of ADMM on Multi-affine Quadratic Equality Constrained Problem2603.11919v1 · Yutong Chao, Michal Ciebielski, Jalal Etesami et al.2026 · 0 citationsarXiv
Safe-Night VLA: Seeing the Unseen via Thermal-Perceptive Vision-Language-Action Models for Safety-Critical Manipulation2603.05754v3 · Dian Yu, Qingchuan Zhou, Bingkun Huang et al.2026 · 0 citationsarXiv
Hippo: High-performance Interior-Point and Projection-based Solver for Generic Constrained Trajectory Optimization2603.00871v1 · Haizhou Zhao, Ludovic Righetti, Majid Khadiv2026 · 0 citationsarXiv
DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization2602.06827v3 · Victor Dhedin, Ilyass Taouil, Shafeef Omar et al.2026 · 0 citationsarXiv
SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization2602.06864v2 · Zhuocheng Zhang, Haizhou Zhao, Xudong Sun et al.2026 · 0 citationsarXiv
Consensus-based optimization (CBO): Towards Global Optimality in Robotics2602.06868v2 · Xudong Sun, Armand Jordana, Massimo Fornasier et al.2026 · 0 citationsarXiv
Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning2510.03599v2 · Shafeef Omar, Majid Khadiv2025 · 0 citationsarXiv
Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion2508.12928v1 · Victor Dh'edin, Haizhou Zhao, Majid Khadiv2025 · 1 citationarXiv
Control of Legged Robots using Model Predictive Optimized Path Integral2508.11917v1 · Hossein Keshavarz, Alejandro Ramirez-Serrano, Majid Khadiv2025 · 1 citationarXiv
Task and Motion Planning for Humanoid Loco-manipulation2508.14099v1 · Michal Ciebielski, Victor Dh'edin, Majid Khadiv2025 · 2 citationsarXiv
Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models2504.16843v1 · Ilyass Taouil, Haizhou Zhao, Angela Dai et al.2025 · 3 citationsarXiv
Physically-Consistent Parameter Identification of Robots in Contact2409.09850v2 · Shahram Khorshidi, Murad Dawood, Benno Nederkorn et al.2024 · 4 citationsarXiv
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning2408.07508v4 · Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv et al.2024 · 5 citationsIEEE Robotics and Automation Letters, 2025, vol. 10, no. 2, pp. 1265-1272
Trajectory Optimization under Contact Timing Uncertainties2407.11478v2 · Haizhou Zhao, Majid Khadiv2024 · 2 citationsarXiv
Safe Learning of Locomotion Skills from MPC2407.11673v1 · Xun Pua, Majid Khadiv2024 · 2 citationsarXiv
Learning-based legged locomotion; state of the art and future perspectives2406.01152v2 · Sehoon Ha, Joonho Lee, Michiel van de Panne et al.2024 · 57 citationsarXiv
Diffusion-based learning of contact plans for agile locomotion2403.03639v5 · Victor Dh'edin, Adithya Kumar Chinnakkonda Ravi, Armand Jordana et al.2024 · 7 citationsarXiv
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty2309.04469v2 · Ahmad Gazar, Majid Khadiv, Andrea Del Prete et al.2023 · 5 citationsarXiv
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion2210.02127v3 · Victor Dh'edin, Haolong Li, Shahram Khorshidi et al.2022 · 11 citationsarXiv
Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization.36134338 · Bogdanovic, Miroslav, Khadiv, Majid, Righetti, Ludovic2022 · 27 citationsFrontiers in robotics and AI. 2022;9:854212
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots2205.13264v2 · Ahmad Gazar, Majid Khadiv, S'ebastien Kleff et al.2022 · 2 citationsarXiv
On the Use of Torque Measurement in Centroidal State Estimation2202.12574v3 · Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella et al.2022 · 4 citationsarXiv
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning2201.07601v2 · Avadesh Meduri, Paarth Shah, Julian Viereck et al.2022 · 103 citationsarXiv
A unified framework for walking and running of bipedal robots2110.09172v1 · Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti et al.2021 · 6 citationsarXiv
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent2108.01797v1 · Paarth Shah, Avadesh Meduri, Wolfgang Merkt et al.2021 · 9 citationsarXiv
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control2011.04684v2 · Bilal Hammoud, Majid Khadiv, Ludovic Righetti2020 · 26 citationsarXiv
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain2010.14834v1 · Avadesh Meduri, Majid Khadiv, Ludovic Righetti2020 · 9 citationsarXiv
Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control2010.08198v2 · Elham Daneshmand, Majid Khadiv, Felix Grimminger et al.2020 · 58 citationsarXiv
Robot Learning with Crash Constraints2010.08669v3 · Alonso Marco, Dominik Baumann, Majid Khadiv et al.2020 · 26 citationsIEEE Robotics and Automation Letters, Vol 6(2), pp. 1439-1446, 2021
Robust walking based on MPC with viability guarantees2010.04514v2 · Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete et al.2020 · 31 citationsarXiv
TriFinger: An Open-Source Robot for Learning Dexterity2008.03596v2 · Manuel Wuthrich, Felix Widmaier, Felix Grimminger et al.2020 · 31 citationsarXiv
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance2005.07555v2 · Ahmad Gazar, Majid Khadiv, Andrea Del Prete et al.2020 · 28 citationsarXiv
Learning Variable Impedance Control for Contact Sensitive Tasks1907.07500v2 · Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti2019 · 108 citationsarXiv
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning1907.04616v2 · Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian et al.2019 · 17 citationsarXiv
Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning1906.03684v1 · Majid Khadiv, Mohammad Hasan Yeganegi, S. Ali A. Moosavian et al.2019 · 0 citationsRSS Workshop on Numerical Optimization for Online Multi-Contact Motion Planning and Control, 2019
A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations1810.10270v1 · Reihaneh Mirjalili, Aghil Yousefi-koma, Farzad A. Shirazi et al.2018 · 14 citationsarXiv
Career total: 83 works. 58 are in this corpus.Showing the 50 most recent.
Profile built from the corpus for this byline.
Author records are still filling in while the Hub is in alpha. If this is your page, you'll be able to claim it soon. Spot a mistake? Tell us.