arxivcs.RO2026-07-20
FARO: Feasibility-Aware Robot Motion Optimization
Michal Ciebielski, Shafeef Omar, Aaron Johnson, Majid Khadiv
Fast planning of novel behaviors in unseen scenarios remains a fundamental challenge in robotics. The high-dimensional, hybrid, and underactuated nature of humanoid loco-manipulation continues to hinder the realization of this goal. In this paper, we address this challenge by pro…