Krzysztof Wojciechowski — accepted AI-conference papers

2026

Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring

Krzysztof Wojciechowski, Ege Gursoy, Arthur Haffemayer, Sebastien Kleff, Vincent Bonnet, Florent Lamiraux +1

ICRA 2026poster

Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industrial tasks under collision constraints. Deburring in particular requires precise tool insertion, stable force regulation,…

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2026

Warm-Starting Collision-Free Model Predictive Control With Object-Centric Diffusion

Arthur Haffemayer, Alexandre Chapin, Armand Jordana, Krzysztof Wojciechowski, Florent Lamiraux, Nicolas Mansard +1

RA-L 2026

Acting in cluttered environments requires predicting and avoiding collisions while still achieving precise control. Conventional optimization-based controllers can enforce physical constraints, but they struggle to produce feasible solutions quickly when many obstacles are present. Diffusion models

Cited by 1 Source ↗Scholar ↗

2025

Collision Avoidance in Model Predictive Control Using Velocity Damper

Arthur Haffemayer, Armand Jordana, Ludovic De Matteïs, Krzysztof Wojciechowski, Ludovic Righetti, Florent Lamiraux +1

ICRA 2025

<div> We propose an advanced method for controlling the motion of a manipulator robot with strict collision avoidance in dynamic environments, leveraging a velocity damper constraint. Unlike conventional distance-based constraints, which tend to saturate near obstacles to reach optimality, the veloc

Cited by 4 Source ↗Scholar ↗