People - Rudolf Szadkowski

Rudolf Szadkowski

Disertation Thesis

Personal webpage

About

Increasing the robot locomotion capabilities through research of lifelong term body-environment interaction. My research combines machine learning and biological solutions in order to imitate the sustainable robustness, longevity, and continual adaptability we can observe in animals.

Publications (19)

Szadkowski, Rudolf and Faigl, Jan: Interpretable Active Inference Gait Control Learning, IEEE International Conference on Robotics and Automation (ICRA), 2025, pp. 9630–9636.

PDF url BibTeX

@inproceedings{szadkowski25icra,
	author = {Szadkowski, Rudolf and Faigl, Jan},
	title = {Interpretable Active Inference Gait Control Learning},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	pages = {9630–9636},
	year = {2025},
	doi = {10.1109/ICRA55743.2025.11128724},
}

Szadkowski, Rudolf and Faigl, Jan: Lifelong Active Inference of Gait Control, IEEE Transactions on Neural Networks and Learning Systems, :1-12, 2025.

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@article{szadkowski25tnnls,
	author = {Szadkowski, Rudolf and Faigl, Jan},
	title = {Lifelong Active Inference of Gait Control},
	journal= {IEEE Transactions on Neural Networks and Learning Systems},
	volume= {},
	number= {},
	pages = {1-12},
	year = {2025},
	doi = {10.1109/TNNLS.2025.3579814},
}

Szadkowski, Rudolf and Nazeer, Muhammad Sunny and Cianchetti, Matteo and Falotico, Egidio and Faigl, Jan: Bootstrapping the Dynamic Gait Controller of the Soft Robot Arm, IEEE International Conference on Robotics and Automation (ICRA), 2023, pp. 2669–2675.

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@inproceedings{szadkowski23icra,
	author = {Szadkowski, Rudolf and Nazeer, Muhammad Sunny and Cianchetti, Matteo and Falotico, Egidio and Faigl, Jan},
	title = {Bootstrapping the Dynamic Gait Controller of the Soft Robot Arm},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	pages = {2669–2675},
	year = {2023},
	doi = {10.1109/ICRA48891.2023.10160579},
}

Szadkowski, Rudolf and Faigl, Jan: Hexapod Gait Control Through Internal Model Belief Update, International Symposium on Adaptive Motion of Animals and Machines, 2023, pp. 107–108.

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@inproceedings{szadkowski23amam,
	author = {Szadkowski, Rudolf and Faigl, Jan},
	title = {Hexapod Gait Control Through Internal Model Belief Update},
	booktitle = {International Symposium on Adaptive Motion of Animals and Machines},
	pages = {107–108},
	year = {2023},
	doi = {10.18910/92290},
}

Prágr, Miloš and Szadkowski, Rudolf and Bayer, Jan and Zelinka, Josef and Faigl, Jan: Terrain Traversal Cost Learning with Knowledge Transfer Between Multi-legged Walking Robot Gaits, 2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2022, pp. 148–153.

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@inproceedings{pragr22icarsc,
	author = {Prágr, Miloš and Szadkowski, Rudolf and Bayer, Jan and Zelinka, Josef and Faigl, Jan},
	title = {Terrain Traversal Cost Learning with Knowledge Transfer Between Multi-legged Walking Robot Gaits},
	booktitle = {2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)},
	pages = {148–153},
	year = {2022},
	doi = {10.1109/ICARSC55462.2022.9784790},
}

Zelinka, Josef and Prágr, Miloš and Szadkowski, Rudolf and Bayer, Jan and Faigl, Jan: Deep Transfer Learning of Traversability Assessment for Heterogeneous Robots, Conference Information Technologies - Applications and Theory (ITAT), 2022, pp. 12–20.

PDF BibTeX

@inproceedings{zelinka22itat,
	author = {Zelinka, Josef and Prágr, Miloš and Szadkowski, Rudolf and Bayer, Jan and Faigl, Jan},
	title = {Deep Transfer Learning of Traversability Assessment for  Heterogeneous Robots},
	booktitle = {Conference Information Technologies - Applications and Theory (ITAT)},
	pages = {12–20},
	year = {2022},
	doi = {},
}

Szadkowski, Rudolf and Drchal, Jan and Faigl, Jan: Continually trained life-long classification, Neural Computing and Applications, 34 :135–152, 2022.

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@article{szadkowski21ncaa,
	author = {Szadkowski, Rudolf and Drchal, Jan and Faigl, Jan},
	title = {Continually trained life-long classification},
	journal= {Neural Computing and Applications},
	volume= {34},
	number= {},
	pages = {135–152},
	year = {2022},
	doi = {10.1007/s00521-021-06154-9},
}

Kubík, Jiří and Szadkowski, Rudolf and Faigl, Jan: Learning-based Detection of Leg-Surface Contact using Position Feedback Only, IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2022, pp. 1–4.

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@inproceedings{kubik22etfa,
	author = {Kubík, Jiří and Szadkowski, Rudolf and Faigl, Jan},
	title = {Learning-based Detection of Leg-Surface Contact using Position Feedback Only},
	booktitle = {IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)},
	pages = {1–4},
	year = {2022},
	doi = {10.1109/ETFA52439.2022.9921720},
}

Zelinka, Josef and Prágr, Miloš and Szadkowski, Rudolf and Bayer, Jan and Faigl, Jan: Traversability Transfer Learning Between Robots with Different Cost Assessment Policies, 2021 Modelling and Simulation for Autonomous Systems (MESAS), 2022, pp. 333–344.

PDF url BibTeX

@inproceedings{zelinka21mesas,
	author = {Zelinka, Josef and Prágr, Miloš and Szadkowski, Rudolf and Bayer, Jan and Faigl, Jan},
	title = {Traversability Transfer Learning Between Robots with Different Cost Assessment Policies},
	booktitle = {2021 Modelling and Simulation for Autonomous Systems (MESAS)},
	pages = {333–344},
	year = {2022},
	doi = {10.1007/978-3-030-98260-7_21},
}

Feber, Jan and Szadkowski, Rudolf and Faigl, Jan: Gait Adaptation After Leg Amputation of Hexapod Walking Robot Without Sensory Feedback, International Conference on Artificial Neural Networks (ICANN), 2022, pp. 656–667.

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@inproceedings{feber22icann,
	author = {Feber, Jan and Szadkowski, Rudolf and Faigl, Jan},
	title = {Gait Adaptation After Leg Amputation of Hexapod Walking Robot Without Sensory Feedback},
	booktitle = {International Conference on Artificial Neural Networks (ICANN)},
	pages = {656–667},
	year = {2022},
	doi = {10.1007/978-3-031-15934-3_54},
}

Kubík, Jiří and Čížek, Petr and Szadkowski, Rudolf and Faigl, Jan: Experimental Leg Inverse Dynamics Learning of Multi-legged Walking Robot, 2020 Modelling and Simulation for Autonomous Systems (MESAS), 2021, pp. 154–168.

PDF url BibTeX

@inproceedings{kubik20mesas,
	author = {Kubík, Jiří and Čížek, Petr and Szadkowski, Rudolf and Faigl, Jan},
	title = {Experimental Leg Inverse Dynamics Learning of Multi-legged Walking Robot},
	booktitle = {2020 Modelling and Simulation for Autonomous Systems (MESAS)},
	pages = {154–168},
	year = {2021},
	doi = {10.1007/978-3-030-70740-8_10},
}

Szadkowski, Rudolf and Prágr, Miloš and Faigl, Jan: Self-Learning Event Mistiming Detector Based on Central Pattern Generator, Frontiers in Neurorobotics, 15 :5, 2021.

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@article{szadkowski21frontiers,
	author = {Szadkowski, Rudolf and Prágr, Miloš and Faigl, Jan},
	title = {Self-Learning Event Mistiming Detector Based on Central Pattern Generator},
	journal= {Frontiers in Neurorobotics},
	volume= {15},
	number= {},
	pages = {5},
	year = {2021},
	doi = {10.3389/fnbot.2021.629652},
}

Feber, Jan and Szadkowski, Rudolf and Faigl, Jan: Gait Genesis Through Emergent Ordering of RBF Neurons on Central Pattern Generator for Hexapod Walking Robot, Conference Information Technologies - Applications and Theory (ITAT), 2021, pp. 114-122.

PDF BibTeX

@inproceedings{feber21itat,
	author = {Feber, Jan and Szadkowski, Rudolf and Faigl, Jan},
	title = {Gait Genesis Through Emergent Ordering of RBF Neurons on Central Pattern Generator for Hexapod Walking Robot},
	booktitle = {Conference Information Technologies - Applications and Theory (ITAT)},
	pages = {114-122},
	year = {2021},
	doi = {},
}

Szadkowski, Rudolf and Drchal, Jan and Faigl, Jan: Autoencoders Covering Space as a Life-Long Classifier, Advances in Self-Organizing Maps, Learning Vector Quantization, Clustering and Data Visualization (WSOM 2019), 2020, pp. 271–281.

PDF url BibTeX

@inproceedings{szadkowski19wsom,
	author = {Szadkowski, Rudolf and Drchal, Jan and Faigl, Jan},
	title = {Autoencoders Covering Space as a Life-Long Classifier},
	booktitle = {Advances in Self-Organizing Maps, Learning Vector Quantization, Clustering and Data Visualization (WSOM 2019)},
	pages = {271–281},
	year = {2020},
	doi = {10.1007/978-3-030-19642-4_27},
}

Szadkowski, Rudolf and Prágr, Miloš and Faigl, Jan: Transfer of Inter-Robotic Inductive Classifier, International Conference on Automation, Control and Robots (ICACR), 2020, pp. 32–36.

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@inproceedings{szadkowski20icacr,
	author = {Szadkowski, Rudolf and Prágr, Miloš and Faigl, Jan},
	title = {Transfer of Inter-Robotic Inductive Classifier},
	booktitle = {International Conference on Automation, Control and Robots (ICACR)},
	pages = {32–36},
	year = {2020},
	doi = {10.1109/ICACR51161.2020.9265509},
}

Szadkowski, Rudolf and Faigl, Jan: Neurodynamic Sensory-Motor Phase Binding for Multi-Legged Walking Robots, International Joint Conference on Neural Networks (IJCNN), 2020, pp. 1–8.

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@inproceedings{szadkowski20ijcnn,
	author = {Szadkowski, Rudolf and Faigl, Jan},
	title = {Neurodynamic Sensory-Motor Phase Binding for Multi-Legged Walking Robots},
	booktitle = {International Joint Conference on Neural Networks (IJCNN)},
	pages = {1–8},
	year = {2020},
	doi = {10.1109/IJCNN48605.2020.9207507},
}

Szadkowski, Rudolf and Drchal, Jan and Faigl, Jan: Basic Evaluation Scenarios for Incrementally Trained Classifiers, International Conference on Artificial Neural Networks (ICANN), 2019, pp. 507–517.

PDF url BibTeX

@inproceedings{szadkowski19icann,
	author = {Szadkowski, Rudolf and Drchal, Jan and Faigl, Jan},
	title = {Basic Evaluation Scenarios for Incrementally Trained Classifiers},
	booktitle = {International Conference on Artificial Neural Networks (ICANN)},
	pages = {507–517},
	year = {2019},
	doi = {10.1007/978-3-030-30484-3_41},
}

Szadkowski, Rudolf J and Čížek, Petr and Faigl, Jan: Learning Central Pattern Generator Network with Back-Propagation Algorithm, Conference Information Technologies - Applications and Theory (ITAT), 2018, pp. 116–123.

PDF BibTeX

@inproceedings{szadkowski18itat,
	author = {Szadkowski, Rudolf J and Čížek, Petr and Faigl, Jan},
	title = {Learning Central Pattern Generator Network with Back-Propagation Algorithm},
	booktitle = {Conference Information Technologies - Applications and Theory (ITAT)},
	pages = {116–123},
	year = {2018},
	doi = {},
}

Szadkowski, Rudolf J and Drchal, Jan and Faigl, Jan: Terrain Classification with Crawling Robot Using Long Short-Term Memory Network, International Conference on Artificial Neural Networks (ICANN), 2018, pp. 771–780.

PDF url BibTeX

@inproceedings{szadkowski18icann,
	author = {Szadkowski, Rudolf J and Drchal, Jan and Faigl, Jan},
	title = {Terrain Classification with Crawling Robot Using Long Short-Term Memory Network},
	booktitle = {International Conference on Artificial Neural Networks (ICANN)},
	pages = {771–780},
	year = {2018},
	doi = {10.1007/978-3-030-01424-7_75},
}