Maciej Piotr Krupka — accepted AI-conference papers

2025

Beyond Constant Parameters: Hyper Prediction Models and HyperMPC

Jan Węgrzynowski, Piotr Kicki, Grzegorz Czechmanowski, Maciej Piotr Krupka, Krzysztof Walas

CoRL 2025poster

Model Predictive Control (MPC) is among the most widely adopted and reliable methods for robot control, relying critically on an accurate dynamics model. However, existing dynamics models used in the gradient-based MPC are limited by computational complexity and state representation. To address this…

Cited by 0 Source ↗Scholar ↗

2024

One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion

Nico Bohlinger, Grzegorz Czechmanowski, Maciej Piotr Krupka, Piotr Kicki, Krzysztof Walas, Jan Peters +1

CoRL 2024poster

Deep Reinforcement Learning techniques are achieving state-of-the-art results in robust legged locomotion. While there exists a wide variety of legged platforms such as quadruped, humanoids, and hexapods, the field is still missing a single learning framework that can control all these different emb…

Cited by 14 Source ↗code ↗Scholar ↗