A Solution to Slosh-free Robot Trajectory Optimization. - Rafael I. Cabral Muchacho; Riddhiman Laha; Luis F. C. Figueredo; Sami Haddadin (IROS, 2022)

Shared Autonomy Control for Slosh-Free Teleoperation. - Rafael I. Cabral Muchacho; Seongjin Bien; Riddhiman Laha; Abdeldjallil Naceri; Luis F. C. Figueredo; Sami Haddadin (IROS, 2023)

CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation. - Peter So; Rafael I. Cabral Muchacho; Robin Jeanne Kirschner; Abdalla Swikir; Luis F. C. Figueredo; Fares J. Abu-Dakka; Sami Haddadin (ICRA, 2024)

Walk on Spheres for PDE-based Path Planning. - Rafael I. Cabral Muchacho; Florian T. Pokorny (CoRR, 2024)

Adaptive Distance Functions via Kelvin Transformation. - Rafael I. Cabral Muchacho; Florian T. Pokorny (CoRR, 2024)

Forward Invariance in Trajectory Spaces for Safety-critical Control. - Matti Vahs; Rafael I. Cabral Muchacho; Florian T. Pokorny; Jana Tumova (CoRR, 2024)

Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier Functions. - Alejandro Sánchez-Roncero; Rafael I. Cabral Muchacho; Petter Ögren (CoRR, 2024)

Co-Designing Tools and Control Policies for Robust Manipulation. - Yifei Dong; Shaohang Han; Xianyi Cheng; Werner Friedl; Rafael I. Cabral Muchacho; Máximo A. Roa; Jana Tumova; Florian T. Pokorny (CoRR, 2024)

Data-augmented Learning of Geodesic Distances in Irregular Domains through Soner Boundary Conditions. - Rafael I. Cabral Muchacho; Florian T. Pokorny (CoRR, 2025)

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control. - Rafael I. Cabral Muchacho; Riddhiman Laha; Florian T. Pokorny; Luis F. C. Figueredo; Nilanjan Chakraborty (CoRR, 2025)

The First WARA Robotics Mobile Manipulation Challenge - Lessons Learned. - 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; et al. (CoRR, 2025)