Justin Carpentier

IEEE Trans. Robotics, 2025

2024

GJK++: Leveraging Acceleration Methods for Faster Collision Detection.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2024

Contact Models in Robotics: A Comparative Analysis.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2024

Reconciling RaiSim With the Maximum Dissipation Principle.

[BibT_eX]

[DOI]

Quentin Le Lidec

IEEE Trans. Robotics, 2024

Co-designing versatile quadruped robots for dynamic and energy-efficient motions.

[BibT_eX]

[DOI]

Robotica, 2024

End-to-End and Highly-Efficient Differentiable Simulation for Robotics.

[BibT_eX]

[DOI]

CoRR, 2024

Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC.

[BibT_eX]

[DOI]

CoRR, 2024

Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XX, 2024

Parallel and Proximal Linear-Quadratic Methods for Real-Time Constrained Model-Predictive Control.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XX, 2024

From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach.

[BibT_eX]

[DOI]

Gastone Pietro Rosati Papini

Quentin Le Lidec

Louis Montaut

Proceedings of the Robotics: Science and Systems XX, 2024

Condensed Semi-Implicit Dynamics for Trajectory Optimization in Soft Robotics.

[BibT_eX]

[DOI]

Proceedings of the 7th IEEE International Conference on Soft Robotics, 2024

CACTO-SL: Using Sobolev learning to improve continuous actor-critic with trajectory optimization.

[BibT_eX]

[DOI]

Elisa Alboni

Gianluigi Grandesso

Andrea Del Prete

Proceedings of the 6th Annual Learning for Dynamics & Control Conference, 2024

Risk-Sensitive Extended Kalman Filter.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Force Feedback Model-Predictive Control via Online Estimation.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Leveraging augmented-Lagrangian techniques for differentiating over infeasible quadratic programs in machine learning.

[BibT_eX]

[DOI]

Proceedings of the Twelfth International Conference on Learning Representations, 2024

I-GRIP, a Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices.

[BibT_eX]

[DOI]

Etienne Moullet

Christine Azevedo-Coste

François Bailly

Proceedings of the 23rd IEEE-RAS International Conference on Humanoid Robots, 2024

From centroidal to whole-body models for legged locomotion: a comparative analysis.

[BibT_eX]

[DOI]

Ewen Dantec

Wilson Jallet

Proceedings of the 23rd IEEE-RAS International Conference on Humanoid Robots, 2024

2023

Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid Using Whole Body Trajectory Optimization.

[BibT_eX]

[DOI]

IROS, 2023

Multi-Contact Task and Motion Planning Guided by Video Demonstration.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Differentiable Collision Detection: a Randomized Smoothing Approach.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Leveraging Proximal Optimization for Differentiating Optimal Control Solvers.

[BibT_eX]

[DOI]

Oumayma Bounou

Jean Ponce

Proceedings of the 62nd IEEE Conference on Decision and Control, 2023

2022

Learning to Manipulate Tools by Aligning Simulation to Video Demonstration.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos.

[BibT_eX]

[DOI]

Int. J. Comput. Vis., 2022

Stagewise Newton Method for Dynamic Game Control With Imperfect State Observation.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2022

ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond.

[BibT_eX]

[DOI]

CoRR, 2022

Augmenting differentiable physics with randomized smoothing.

[BibT_eX]

[DOI]

CoRR, 2022

Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems.

[BibT_eX]

[DOI]

CoRR, 2022

Collision Detection Accelerated: An Optimization Perspective.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022

PROX-QP: Yet another Quadratic Programming Solver for Robotics and beyond.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022

Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Implicit Differential Dynamic Programming.

[BibT_eX]

[DOI]

Wilson Jallet

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos.

[BibT_eX]

[DOI]

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.

[BibT_eX]

[DOI]

Proceedings of the Conference on Robot Learning, 2022

Infinite-Dimensional Sums-of-Squares for Optimal Control.

[BibT_eX]

[DOI]

Proceedings of the 61st IEEE Conference on Decision and Control, 2022

2021

Differentiable Simulation for Physical System Identification.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting.

[BibT_eX]

[DOI]

Armand Jordana

Ludovic Righetti

CoRR, 2021

Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts.

[BibT_eX]

[DOI]

CoRR, 2021

Proximal and Sparse Resolution of Constrained Dynamic Equations.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021

Differentiable rendering with perturbed optimizers.

[BibT_eX]

[DOI]

Proceedings of the Advances in Neural Information Processing Systems 34: Annual Conference on Neural Information Processing Systems 2021, 2021

Online Learning and Control of Complex Dynamical Systems from Sensory Input.

[BibT_eX]

[DOI]

Oumayma Bounou

Jean Ponce

Proceedings of the Advances in Neural Information Processing Systems 34: Annual Conference on Neural Information Processing Systems 2021, 2021

A Hybrid Collision Model for Safety Collision Control.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Equality Constrained Differential Dynamic Programming.

[BibT_eX]

[DOI]

Sarah El Kazdadi

Jean Ponce

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Optimal Estimation of the Centroidal Dynamics of Legged Robots.

[BibT_eX]

[DOI]

François Bailly

Philippe Souères

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Fast and Robust Stability Region Estimation for Nonlinear Dynamical Systems.

[BibT_eX]

[DOI]

Eloïse Berthier

Francis R. Bach

Proceedings of the 2021 European Control Conference, 2021

Single-View Robot Pose and Joint Angle Estimation via Render & Compare.

[BibT_eX]

[DOI]

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2021

2020

C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2020

Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

CosyPose: Consistent Multi-view Multi-object 6D Pose Estimation.

[BibT_eX]

[DOI]

Proceedings of the Computer Vision - ECCV 2020, 2020

Learning Obstacle Representations for Neural Motion Planning.

[BibT_eX]

[DOI]

Proceedings of the 4th Conference on Robot Learning, 2020

2019

Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion - A Recursive Approach.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.

[BibT_eX]

[DOI]

CoRR, 2019

The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives.

[BibT_eX]

[DOI]

Proceedings of the IEEE/SICE International Symposium on System Integration, 2019

Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video.

[BibT_eX]

[DOI]

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2019

2018

Multicontact Locomotion of Legged Robots.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2018

Analytical Derivatives of Rigid Body Dynamics Algorithms.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIV, 2018

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics.

[BibT_eX]

[DOI]

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

A Mechanical Descriptor of Human Locomotion and its Application to Multi-Contact Walking in Humanoids.

[BibT_eX]

[DOI]

Proceedings of the 7th IEEE International Conference on Biomedical Robotics and Biomechatronics, 2018

2017

Fondements calculatoires de la locomotion anthropomorphe. (Computational foundations of anthropomorphic locomotion).

[BibT_eX]

[DOI]

PhD thesis, 2017

The Yoyo-Man.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2017

On the centre of mass motion in human walking.

[BibT_eX]

[DOI]

Mehdi Benallegue

Jean-Paul Laumond

Int. J. Autom. Comput., 2017

Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIII, 2017

Actuator design of compliant walkers via optimal control.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

TALOS: A new humanoid research platform targeted for industrial applications.

[BibT_eX]

[DOI]

Olivier Stasse

Thomas Flayols