Rafael I. Cabral Muchacho

18 papers A* 4A 3Journal 10Unranked 1
YearRankTypeTitle / Venue / Authors
2026 J jnl
Where to Attend: A Principled Vision-Centric Position Encoding with Parabolas.
CoRR
Christoffer Koo Øhrstrøm, Rafael I. Cabral Muchacho, Yifei Dong, Filippos Moumtzidellis, Ronja Güldenring, Florian T. Pokorny, Lazaros Nalpantidis
2025 A* conf
Adaptive Distance Functions via Kelvin Transformation.
ICRA
Rafael I. Cabral Muchacho, Florian T. Pokorny
2025 A conf
CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization.
IROS
Yifei Dong, Shaohang Han, Xianyi Cheng, Werner Friedl, Rafael I. Cabral Muchacho, Máximo A. Roa, Jana Tumova, Florian T. Pokorny
2025 J jnl
Data-augmented Learning of Geodesic Distances in Irregular Domains through Soner Boundary Conditions.
CoRR
Rafael I. Cabral Muchacho, Florian T. Pokorny
2025 A* conf
Forward Invariance in Trajectory Spaces for Safety-Critical Control.
ICRA
Matti Vahs, Rafael I. Cabral Muchacho, Florian T. Pokorny, Jana Tumova
2025 A* conf
Multi-Agent Obstacle Avoidance Using Velocity Obstacles and Control Barrier Functions.
ICRA
Alejandro Sánchez-Roncero, Rafael I. Cabral Muchacho, Petter Ögren
2025 — conf
The First WARA Robotics Mobile Manipulation Challenge - Lessons Learned.
ECMR
David Cáceres-Domínguez, Marco Iannotta, Abhishek Kashyap, Shuo Sun, Yuxuan Yang, Christian Cella, Matteo Colombo, Martina Pelosi, Giuseppe F. Preziosa, Alessandra Tafuro, Isacco Zappa, Finn Busch, Yifei Dong, Alberta Longhini, Haofei Lu, Rafael I. Cabral Muchacho, Jonathan Styrud, Sebastiano Fregnan, Marko Guberina, Zheng Jia, Graziano Carriero, Sofia Lindqvist, Silvio Di Castro, Matteo Iovino
2025 J jnl
The First WARA Robotics Mobile Manipulation Challenge - Lessons Learned.
CoRR
David Cáceres-Domínguez, Marco Iannotta, Abhishek Kashyap, Shuo Sun, Yuxuan Yang, Christian Cella, Matteo Colombo, Martina Pelosi, Giuseppe F. Preziosa, Alessandra Tafuro, Isacco Zappa, Finn Busch, Yifei Dong, Alberta Longhini, Haofei Lu, Rafael I. Cabral Muchacho, Jonathan Styrud, Sebastiano Fregnan, Marko Guberina, Zheng Jia, Graziano Carriero, Sofia Lindqvist, Silvio Di Castro, Matteo Iovino
2025 J jnl
Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control.
CoRR
Rafael I. Cabral Muchacho, Riddhiman Laha, Florian T. Pokorny, Luis F. C. Figueredo, Nilanjan Chakraborty
2024 J jnl
Adaptive Distance Functions via Kelvin Transformation.
CoRR
Rafael I. Cabral Muchacho, Florian T. Pokorny
2024 A* conf
CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation.
ICRA
Peter So, Rafael I. Cabral Muchacho, Robin Jeanne Kirschner, Abdalla Swikir, Luis F. C. Figueredo, Fares J. Abu-Dakka, Sami Haddadin
2024 J jnl
Co-Designing Tools and Control Policies for Robust Manipulation.
CoRR
Yifei Dong, Shaohang Han, Xianyi Cheng, Werner Friedl, Rafael I. Cabral Muchacho, Máximo A. Roa, Jana Tumova, Florian T. Pokorny
2024 J jnl
Forward Invariance in Trajectory Spaces for Safety-critical Control.
CoRR
Matti Vahs, Rafael I. Cabral Muchacho, Florian T. Pokorny, Jana Tumova
2024 J jnl
Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier Functions.
CoRR
Alejandro Sánchez-Roncero, Rafael I. Cabral Muchacho, Petter Ögren
2024 J jnl
Walk on Spheres for PDE-based Path Planning.
CoRR
Rafael I. Cabral Muchacho, Florian T. Pokorny
2023 A conf
Shared Autonomy Control for Slosh-Free Teleoperation.
IROS
Rafael I. Cabral Muchacho, Seongjin Bien, Riddhiman Laha, Abdeldjallil Naceri, Luis F. C. Figueredo, Sami Haddadin
2022 A conf
A Solution to Slosh-free Robot Trajectory Optimization.
IROS
Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin
2022 J jnl
A Solution to Slosh-free Robot Trajectory Optimization.
CoRR
Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin