Haizhou Zhao — accepted AI-conference papers

2026

Hippo: High-Performance Interior-Point and Projection-Based Solver for Generic Constrained Trajectory Optimization

Haizhou Zhao, Ludovic Righetti, Majid Khadiv

RA-L 2026

Trajectory optimization is the core of modern model-based robotic control and motion planning. Existing trajectory optimizers, based on sequential quadratic programming (SQP) or differential dynamic programming (DDP), are often limited by their slow computation efficiency, low modeling flexibility,

Cited by 1 Source ↗Scholar ↗

2024

Arm-Constrained Curriculum Learning for Loco-Manipulation of a Wheel-Legged Robot

Zifan Wang, Yufei Jia, Lu Shi, Haoyu Wang, Haizhou Zhao, Xueyang Li +3

IROS 2024poster

Incorporating a robotic manipulator into a wheellegged robot enhances its agility and expands its potential for practical applications. However, the presence of potential instability and uncertainties presents additional challenges for control objectives. In this paper, we introduce an arm-constrain…

Cited by 5 Source ↗code ↗Scholar ↗