arXiv subjects

Krzysztof Ciebiera

Publications and source records attributed to Krzysztof Ciebiera.

4 recordsLinked to original sources

arXiv2026

Kine2Go: Kinematic dataset for the Unitree Go2 robot with diverse gaits and motions

The recent popularity of robotics, combined with the steadily decreasing cost of robotic hardware, has lowered the entry barrier to robotics research and enabled rapid advancements in the field. One of the primary examples is the Unitree Go2 quadruped robot, which is often used by researchers in the areas of locomotion, navigation, control, and others. Many researchers use the Go2 robot in combination with techniques like imitation learning, reinforcement learning, and behavioral cloning to allow machine learning systems to take full control of the robot. At the same time, many of those techniques require demonstration data consisting of the robot's kinematics information and actions applied to the motors. Obtaining such data is difficult, requires building complex pipelines, and can take significant time. To aid in those kinds of efforts, we present Kine2Go - a dataset with 800 diverse gait kinematics trajectory motion data for the Unitree Go2 robot, derived from 40 distinct policies. Our pipeline accepts data from various quadruped morphologies and translates them to a Go2-compatible format. Then we use Reinforcement Learning to train policies following a given motion, and finally we gather data from those policies, which grants robust, perturbed kinematic data with corresponding motor-level actions.

cs.RO↗

arXiv2026

RoboMorph: Evolving Robot Morphology using Large Language Models

We introduce RoboMorph, an automated approach for generating and optimizing modular robot designs using large language models (LLMs) and evolutionary algorithms. Each robot design is represented by a structured grammar, and we use LLMs to efficiently explore this design space. Traditionally, such exploration is time-consuming and computationally intensive. Using a best-shot prompting strategy combined with reinforcement learning (RL)-based control evaluation, RoboMorph iteratively refines robot designs within an evolutionary feedback loop. Across four terrain types, RoboMorph discovers diverse, terrain-specialized morphologies, including wheeled quadrupeds and hexapods, that match or outperform designs produced by Robogrammar's graph-search method. These results demonstrate that LLMs, when coupled with evolutionary selection, can serve as effective generative operators for automated robot design. Our project page and code are available at https://robomorph.github.io.

cs.LG↗

arXiv2023

Grasping Student: semi-supervised learning for robotic manipulation

Gathering real-world data from the robot quickly becomes a bottleneck when constructing a robot learning system for grasping. In this work, we design a semi-supervised grasping system that, on top of a small sample of robot experience, takes advantage of images of products to be picked, which are collected without any interactions with the robot. We validate our findings both in the simulation and in the real world. In the regime of a small number of robot training samples, taking advantage of the unlabeled data allows us to achieve performance at the level of 10-fold bigger dataset size used by the baseline. The code and datasets used in the paper will be released at https://github.com/nomagiclab/grasping-student.

cs.RO↗

arXiv2014

Approximation Algorithms for Steiner Tree Problems Based on Universal Solution Frameworks

This paper summarizes the work on implementing few solutions for the Steiner Tree problem which we undertook in the PAAL project. The main focus of the project is the development of generic implementations of approximation algorithms together with universal solution frameworks. In particular, we have implemented Zelikovsky 11/6-approximation using local search framework, and 1.39-approximation by Byrka et al. using iterative rounding framework. These two algorithms are experimentally compared with greedy 2-approximation, with exact but exponential time Dreyfus-Wagner algorithm, as well as with results given by a state-of-the-art local search techniques by Uchoa and Werneck. The results of this paper are twofold. On one hand, we demonstrate that high level algorithmic concepts can be designed and efficiently used in C++. On the other hand, we show that the above algorithms with good theoretical guarantees, give decent results in practice, but are inferior to state-of-the-art heuristical approaches.

cs.DS↗