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Hi, I’m Maciej Stępień, a PhD student in robotics in the Gepetto team at LAAS-CNRS, supervised by Olivier Stasse. My research focuses on reinforcement learning for multitask humanoid robot control, particularly whole-body control and loco-manipulation.

Outside my research, I’ve also worked on open-source hardware and electronics projects. You can find this work in the Projects section.

Publications

  1. PAO humanoid payload-adaptive balancing demo

    Predictive Auxiliary Objective for Payload-Adaptive Multi-Motion Humanoid Balancing

    Maciej Stępień, Constant Roux, Olivier Stasse

    Accepted for IEEE-RAS 25th International Conference on Humanoid Robots (Humanoids),

    Project pagePaper

  2. LaCoLoco robot locomotion and manipulation demo

    Latent Conditioned Loco-Manipulation Using Motion Priors

    Maciej Stępień, Rafael Kourdis, Constant Roux, Olivier Stasse

    IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids),

    Project pagePaperCode

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Projects

Furuta pendulum demo

Furuta pendulum

I built a rotational inverted pendulum and developed an RL controller.

Roomac demo

Roomac

Affordable general-purpose personal robot capable of autonomously fetching objects

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