Publications

2026

1. Sampling-Based Global Optimal Control and Estimation via Semidefinite Programming

   Antoine Groudiev, Fabian Schramm, Éloı̈se Berthier, and 2 more authors

   In 2026 American Control Conference (ACC), 2026

   arXiv HAL Bib PDF

   @inproceedings{groudiev2025kernelsos,
     title = {Sampling-Based Global Optimal Control and Estimation via Semidefinite Programming},
     author = {Groudiev, Antoine and Schramm, Fabian and Berthier, {\'E}lo{\"\i}se and Carpentier, Justin and D{\"u}mbgen, Frederike},
     year = {2026},
     url = {https://hal.science/hal-05184030},
     booktitle = {2026 American Control Conference (ACC)},
     pages = {3882--3889},
   }

2. Accelerating trajectory optimization with Sobolev-trained diffusion policies

   Théotime Le Hellard, Franki Nguimatsia Tiofack, Quentin Le Lidec, and 1 more author

   May 2026

   Preprint

   HAL Bib PDF

   @unpublished{le2025sobolev,
     title = {{Accelerating trajectory optimization with Sobolev-trained diffusion policies}},
     author = {Le Hellard, Th{\'e}otime and Nguimatsia Tiofack, Franki and Le Lidec, Quentin and Carpentier, Justin},
     year = {2026},
     month = may,
     note = {Preprint},
     url = {https://hal.science/hal-05179357},
   }

3. Guided Flow Policy: Workshop Version

   Franki Nguimatsia Tiofack, Theotime Le Hellard, Fabian Schramm, and 2 more authors

   May 2026

   Preprint

   HAL Bib PDF

   @unpublished{nguimatsiatiofack:hal-05629700,
     title = {{Guided Flow Policy: Workshop Version}},
     author = {Nguimatsia Tiofack, Franki and Le Hellard, Theotime and Schramm, Fabian and Perrin-Gilbert, Nicolas and Carpentier, Justin},
     year = {2026},
     month = may,
     note = {Preprint},
     url = {https://hal.science/hal-05629700},
   }

4. Matrix-Free Delassus Operations: Scalable and Memory-Efficient Algorithms

   Ajay Suresha Sathya, Louis Montaut, Yann Mont-Marin, and 1 more author

   Jan 2026

   Preprint

   HAL Bib PDF

   @unpublished{sureshasathya:hal-05457476,
     title = {{Matrix-Free Delassus Operations: Scalable and Memory-Efficient Algorithms}},
     author = {Suresha Sathya, Ajay and Montaut, Louis and de Mont-Marin, Yann and Carpentier, Justin},
     year = {2026},
     month = jan,
     note = {Preprint},
     url = {https://hal.science/hal-05457476},
   }

5. Variance-Reduced Model Predictive Path Integral via Quadratic Model Approximation

   Fabian Schramm, Franki Nguimatsia Tiofack, Nicolas Perrin-Gilbert, and 2 more authors

   Feb 2026

   Preprint

   HAL Bib PDF

   @unpublished{schramm:hal-05492619,
     title = {{Variance-Reduced Model Predictive Path Integral via Quadratic Model Approximation}},
     author = {Schramm, Fabian and Tiofack, Franki Nguimatsia and Perrin-Gilbert, Nicolas and Toussaint, Marc and Carpentier, Justin},
     year = {2026},
     month = feb,
     note = {Preprint},
     url = {https://hal.science/hal-05492619},
   }

6. Variance-Reduced MPPI: Workshop Version

   Fabian Schramm, Franki Nguimatsia Tiofack, Nicolas Perrin-Gilbert, and 2 more authors

   May 2026

   Preprint

   HAL Bib PDF

   @unpublished{schramm:hal-05629693,
     title = {{Variance-Reduced MPPI: Workshop Version}},
     author = {Schramm, Fabian and Tiofack, Franki Nguimatsia and Perrin-Gilbert, Nicolas and Toussaint, Marc and Carpentier, Justin},
     year = {2026},
     month = may,
     note = {Preprint},
     url = {https://hal.science/hal-05629693},
   }

7. Frictional Contact Solving for Material Point Method

   Etienne Ménager, and Justin Carpentier

   Feb 2026

   MPM simulation with frictional contacts.

   HAL Bib PDF

   @misc{menager:hal-05488708,
     title = {{Frictional Contact Solving for Material Point Method}},
     author = {M{\'e}nager, Etienne and Carpentier, Justin},
     year = {2026},
     month = feb,
     note = {MPM simulation with frictional contacts.},
     url = {https://hal.science/hal-05488708},
   }

8. Reference-Free Sampling-Based Model Predictive Control

   Fabian Schramm, Pierre Fabre, Nicolas Perrin-Gilbert, and 1 more author

   In IEEE International Conference on Robotics and Automation (ICRA 2026), Jun 2026

   HAL Bib PDF

   @inproceedings{schramm:hal-05401976,
     title = {{Reference-Free Sampling-Based Model Predictive Control}},
     author = {Schramm, Fabian and Fabre, Pierre and Perrin-Gilbert, Nicolas and Carpentier, Justin},
     booktitle = {{IEEE International Conference on Robotics and Automation (ICRA 2026)}},
     year = {2026},
     month = jun,
     url = {https://hal.science/hal-05401976},
   }

9. Survival Reinforcement Learning: Toward Scalable Self-Supervised RL

   Franki Nguimatsia-Tiofack, Fabian Schramm, Théotime Le Hellard, and 1 more author

   Jun 2026

   Preprint

   HAL Bib PDF

   @unpublished{nguimatsiatiofack:hal-05649866,
     title = {{Survival Reinforcement Learning: Toward Scalable Self-Supervised RL}},
     author = {Nguimatsia-Tiofack, Franki and Schramm, Fabian and Hellard, Th{\'e}otime Le and Carpentier, Justin},
     year = {2026},
     month = jun,
     note = {Preprint},
     url = {https://hal.science/hal-05649866},
   }

10. On the Conic Complementarity of Planar Contacts

    Yann Mont-Marin, Louis Montaut, Jean Ponce, and 2 more authors

    In IEEE International Conference on Robotics & Automation, Jun 2026

    HAL Bib PDF

    @inproceedings{demontmarin:hal-05267202,
      title = {{On the Conic Complementarity of Planar Contacts}},
      author = {de Mont-Marin, Yann and Montaut, Louis and Ponce, Jean and Hebert, Martial and Carpentier, Justin},
      booktitle = {{IEEE International Conference on Robotics \& Automation}},
      year = {2026},
      month = jun,
      url = {https://hal.science/hal-05267202},
    }

11. Frictional Contact-Implicit Inverse Dynamics via Complementarity-Constrained Optimization

    Pierre Fabre, Etienne Ménager, Antoine Bambade, and 3 more authors

    In ICRA 2026 - IEEE International Conference on Robotics and Automation, Jun 2026

    HAL Bib PDF

    @inproceedings{fabre:hal-05637122,
      title = {{Frictional Contact-Implicit Inverse Dynamics via Complementarity-Constrained Optimization}},
      author = {Fabre, Pierre and M{\'e}nager, Etienne and Bambade, Antoine and Jallet, Wilson and de Marchi, Alberto and Carpentier, Justin},
      booktitle = {{ICRA 2026 - IEEE International Conference on Robotics and Automation}},
      year = {2026},
      month = jun,
      url = {https://hal.science/hal-05637122},
    }

12. Unbiased First-Order Randomized Smoothing for Differentiable Simulators

    Mathis Scheffler, Wilson Jallet, Cordelia Schmid, and 1 more author

    May 2026

    Preprint

    HAL Bib PDF

    @unpublished{scheffler:hal-05629540,
      title = {{Unbiased First-Order Randomized Smoothing for Differentiable Simulators}},
      author = {Scheffler, Mathis and Jallet, Wilson and Schmid, Cordelia and Carpentier, Justin},
      year = {2026},
      month = may,
      note = {Preprint},
      url = {https://hal.science/hal-05629540},
    }

13. Guided Flow Policy: Learning from High-Value Actions in Offline Reinforcement Learning

    Franki Nguimatsia Tiofack, Théotime Le Hellard, Fabian Schramm, and 2 more authors

    In ICLR 2026 - The Fourteenth International Conference on Learning Representations, Apr 2026

    HAL Bib PDF

    @inproceedings{nguimatsiatiofack:hal-05400311,
      title = {{Guided Flow Policy: Learning from High-Value Actions in Offline Reinforcement Learning}},
      author = {Nguimatsia Tiofack, Franki and Le Hellard, Th{\'e}otime and Schramm, Fabian and Perrin-Gilbert, Nicolas and Carpentier, Justin},
      booktitle = {{ICLR 2026 - The Fourteenth International Conference on Learning Representations}},
      year = {2026},
      month = apr,
      url = {https://hal.science/hal-05400311},
    }

14. Contributions to the Algorithmic Foundations of Artificial Motion Intelligence

    Justin Carpentier

    Mar 2026

    Habilitation to supervise research (HDR)

    HAL Bib PDF

    @phdthesis{carpentier:tel-05577534,
      title = {{Contributions to the Algorithmic Foundations of Artificial Motion Intelligence}},
      author = {Carpentier, Justin},
      school = {{Ecole Normale Sup{\'e}rieure - PSL}},
      type = {Accreditation to supervise research},
      year = {2026},
      month = mar,
      note = {Habilitation to supervise research (HDR)},
      url = {https://hal.science/tel-05577534},
    }

15. SVL: Goal-Conditioned Reinforcement Learning as Survival Learning

    Franki Nguimatsia Tiofack, Fabian Schramm, Théotime Le Hellard, and 1 more author

    In ICML 2026 - Forty-third International Conference on Machine Learning, Jul 2026

    DOI HAL Bib PDF

    @inproceedings{tiofack:hal-05648264,
      title = {{SVL: Goal-Conditioned Reinforcement Learning as Survival Learning}},
      author = {Tiofack, Franki Nguimatsia and Schramm, Fabian and Hellard, Th{\'e}otime Le and Carpentier, Justin},
      booktitle = {{ICML 2026 - Forty-third International Conference on Machine Learning}},
      year = {2026},
      month = jul,
      doi = {10.48550/arXiv.2604.17551},
      url = {https://hal.science/hal-05648264},
    }

16. Combined Constrained Sampling and Reinforcement Learning for Robotic Manipulation

    Marc Toussaint, Cornelius V Braun, Armand Jordana, and 5 more authors

    arXiv preprint arXiv:2602.08557, Jul 2026

    arXiv Bib

    @article{toussaint2026combined,
      title = {Combined Constrained Sampling and Reinforcement Learning for Robotic Manipulation},
      author = {Toussaint, Marc and Braun, Cornelius V and Jordana, Armand and Auddy, Sayantan and Cobo-Briesewitz, Eckart and Shcherba, Denis and Burghoff, Tilman and Carpentier, Justin},
      journal = {arXiv preprint arXiv:2602.08557},
      year = {2026},
      url = {https://arxiv.org/abs/2602.08557},
    }

17. Infeasible optimization problems and the hierarchical augmented Lagrangian method in imitation learning

    Roland Andrews, Justin Carpentier, and Ajay Sathya

    arXiv preprint arXiv:2606.00730, Jul 2026

    arXiv Bib

    @article{andrews2026infeasible,
      title = {Infeasible optimization problems and the hierarchical augmented Lagrangian method in imitation learning},
      author = {Andrews, Roland and Carpentier, Justin and Sathya, Ajay},
      journal = {arXiv preprint arXiv:2606.00730},
      year = {2026},
      url = {https://arxiv.org/abs/2606.00730},
    }

18. Sparse Delta Memory: Scaling the State of Linear RNNs through Sparsity

    Loïc Cabannes, Pierre-Emmanuel Mazaré, Gergely Szilvasy, and 6 more authors

    arXiv preprint arXiv:2607.07386, Jul 2026

    arXiv Bib

    @article{cabannes2026sparse,
      title = {Sparse Delta Memory: Scaling the State of Linear RNNs through Sparsity},
      author = {Cabannes, Loïc and Mazaré, Pierre-Emmanuel and Szilvasy, Gergely and Douze, Matthijs and Lomeli, Maria and Auzina, Ilze Amanda and Carpentier, Justin and Synnaeve, Gabriel and Jégou, Hervé},
      journal = {arXiv preprint arXiv:2607.07386},
      year = {2026},
      url = {https://arxiv.org/abs/2607.07386},
    }

2025

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

   Quentin Le Lidec, Louis Montaut, Yann Mont-Marin, and 2 more authors

   Jul 2025

   arXiv HAL Bib PDF

   @article{lidec2025end,
     title = {End-to-End and Highly-Efficient Differentiable Simulation for Robotics},
     author = {Le Lidec, Quentin and Montaut, Louis and de Mont-Marin, Yann and Schramm, Fabian and Carpentier, Justin},
     year = {2025},
     url = {https://hal.science/hal-04694092},
   }

2. ProxDDP: Proximal constrained trajectory optimization

   Wilson Jallet, Antoine Bambade, Etienne Arlaud, and 3 more authors

   IEEE Transactions on Robotics, Jul 2025

   HAL Bib PDF

   @article{jallet2023proxddp,
     title = {ProxDDP: Proximal constrained trajectory optimization},
     author = {Jallet, Wilson and Bambade, Antoine and Arlaud, Etienne and El-Kazdadi, Sarah and Mansard, Nicolas and Carpentier, Justin},
     year = {2025},
     journal = {IEEE Transactions on Robotics},
     note = {},
     publisher = {IEEE},
     url = {https://hal.science/hal-04332348},
   }

3. Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control

   Armand Jordana, Sébastien Kleff, Avadesh Meduri, and 3 more authors

   IEEE Transactions on Robotics, Jul 2025

   HAL Bib

   @article{jordana2023stagewise,
     title = {Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control},
     author = {Jordana, Armand and Kleff, S{\'e}bastien and Meduri, Avadesh and Carpentier, Justin and Mansard, Nicolas and Righetti, Ludovic},
     year = {2025},
     journal = {IEEE Transactions on Robotics},
     note = {},
     publisher = {IEEE},
     url = {https://hal.science/hal-04330251},
   }

4. Differentiable Simulation of Soft Robots with Frictional Contacts

   Etienne Ménager, Louis Montaut, Quentin Le Lidec, and 1 more author

   In 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft), Jul 2025

   HAL Bib PDF

   @inproceedings{menager2025differentiable,
     title = {Differentiable Simulation of Soft Robots with Frictional Contacts},
     author = {M{\'e}nager, Etienne and Montaut, Louis and Lidec, Quentin Le and Carpentier, Justin},
     booktitle = {2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)},
     year = {2025},
     organization = {IEEE},
     url = {https://hal.science/hal-04916093},
   }

5. Infinite-Horizon Value Function Approximation for Model Predictive Control

   Armand Jordana, Sébastien Kleff, Arthur Haffemayer, and 4 more authors

   IEEE Robotics and Automation Letters, Jul 2025

   HAL Bib PDF

   @article{jordana2025infinite,
     title = {Infinite-Horizon Value Function Approximation for Model Predictive Control},
     author = {Jordana, Armand and Kleff, S{\'e}bastien and Haffemayer, Arthur and Ortiz-Haro, Joaquim and Carpentier, Justin and Mansard, Nicolas and Righetti, Ludovic},
     year = {2025},
     journal = {IEEE Robotics and Automation Letters},
     url = {https://hal.science/hal-04948407},
   }

6. Constrained Articulated Body Algorithms for Closed-Loop Mechanisms

   Ajay Suresha Sathya, and Justin Carpentier

   Jul 2025

   IEEE Transactions on Robotics

   HAL Bib PDF

   @unpublished{sathya2025constrained,
     title = {Constrained Articulated Body Algorithms for Closed-Loop Mechanisms},
     author = {Sathya, Ajay Suresha and Carpentier, Justin},
     year = {2025},
     note = {IEEE Transactions on Robotics},
     url = {https://hal.science/hal-04895583},
   }

7. Optimal Control of Walkers with Parallel Actuation

   Ludovic Matteis, Virgile Batto, Justin Carpentier, and 1 more author

   Jul 2025

   IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

   HAL Bib PDF

   @unpublished{de2025optimal,
     title = {Optimal Control of Walkers with Parallel Actuation},
     author = {de Matteis, Ludovic and Batto, Virgile and Carpentier, Justin and Mansard, Nicolas},
     year = {2025},
     note = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     url = {https://hal.science/hal-04716938},
   }

8. Frictional Contact-Implicit Inverse Dynamics

   Etienne Ménager, Pierre Fabre, Antoine Bambade, and 3 more authors

   Jul 2025

   Under review at IEEE Transactions on Robotics

   HAL Bib

   @unpublished{menager2025contactimplicit,
     title = {Frictional Contact-Implicit Inverse Dynamics},
     author = {M{\'e}nager, Etienne and Fabre, Pierre and Bambade, Antoine and Jallet, Wilson and De Marchi, Alberto and Carpentier, Justin},
     year = {2025},
     note = {Under review at IEEE Transactions on Robotics},
     url = {https://hal.science/hal-05201780},
   }

9. Augmented Lagrangian methods for infeasible convex optimization problems and diverging proximal-point algorithms

   Roland Andrews, Justin Carpentier, and Adrien Taylor

   Jul 2025

   Under review

   HAL Bib

   @unpublished{andrews2025augmented,
     title = {{{Augmented Lagrangian methods for infeasible convex optimization problems and diverging proximal-point algorithms}}},
     author = {Andrews, Roland and Carpentier, Justin and Taylor, Adrien},
     note = {Under review},
     year = {2025},
     url = {https://hal.science/hal-05461095},
   }

10. PhysPose: Refining 6D Object Poses with Physical Constraints

    Martin Malenickỳ, Martin Cı́fka, Médéric Fourmy, and 4 more authors

    arXiv preprint arXiv:2503.23587, Jul 2025

    arXiv Bib

    @article{malenicky2025physpose,
      title = {PhysPose: Refining 6D Object Poses with Physical Constraints},
      author = {Malenick{\`y}, Martin and C{\'\i}fka, Martin and Fourmy, M{\'e}d{\'e}ric and Montaut, Louis and Carpentier, Justin and Sivic, Josef and Petrik, Vladimir},
      journal = {arXiv preprint arXiv:2503.23587},
      year = {2025},
      url = {https://arxiv.org/abs/2503.23587},
    }

11. Multi-step manipulation task and motion planning guided by video demonstration

    Kateryna Zorina, David Kovar, Mederic Fourmy, and 5 more authors

    arXiv preprint arXiv:2505.08949, Jul 2025

    arXiv Bib

    @article{zorina2025multi,
      title = {Multi-step manipulation task and motion planning guided by video demonstration},
      author = {Zorina, Kateryna and Kovar, David and Fourmy, Mederic and Lamiraux, Florent and Mansard, Nicolas and Carpentier, Justin and Sivic, Josef and Petrik, Vladimir},
      journal = {arXiv preprint arXiv:2505.08949},
      year = {2025},
      url = {https://arxiv.org/abs/2505.08949},
    }

12. Human-Robot Co-Simulation method for upper limb assistive force calculation using polytopes

    Maël Gallois, Mégane Millan, Nicolas Vignais, and 4 more authors

    Multidisciplinary Biomechanics Journal, Jul 2025

    Bib

    @article{gallois2025human,
      title = {Human-Robot Co-Simulation method for upper limb assistive force calculation using polytopes},
      author = {Gallois, Maël and Millan, Mégane and Vignais, Nicolas and Guégan, Sylvain and Babel, Marie and Carpentier, Justin and Pontonnier, Charles},
      journal = {Multidisciplinary Biomechanics Journal},
      volume = {2},
      year = {2025},
      publisher = {Episciences. org},
    }

13. First-order Sobolev Reinforcement Learning

    Fabian Schramm, Nicolas Perrin-Gilbert, and Justin Carpentier

    Nov 2025

    arXiv HAL Bib PDF

    @unpublished{schramm2025first,
      title = {{First-order Sobolev Reinforcement Learning}},
      author = {Schramm, Fabian and Perrin-Gilbert, Nicolas and Carpentier, Justin},
      journal = {arXiv preprint arXiv:2511.19165},
      year = {2025},
      month = nov,
      url = {https://hal.science/hal-05401970},
    }

2024

1. Constrained articulated body dynamics algorithms

   Ajay Suresha Sathya, and Justin Carpentier

   IEEE Transactions on Robotics, Nov 2024

   HAL Bib PDF

   @article{sathya2024constrained,
     title = {Constrained articulated body dynamics algorithms},
     author = {Sathya, Ajay Suresha and Carpentier, Justin},
     journal = {IEEE Transactions on Robotics},
     year = {2024},
     publisher = {IEEE},
     url = {https://hal.science/hal-04443056},
   }

2. Contact models in robotics: a comparative analysis

   Quentin Le Lidec, Wilson Jallet, Louis Montaut, and 3 more authors

   IEEE Transactions on Robotics, Nov 2024

   DOI HAL Bib PDF

   @article{le2024contact,
     title = {Contact models in robotics: a comparative analysis},
     author = {Le Lidec, Quentin and Jallet, Wilson and Montaut, Louis and Laptev, Ivan and Schmid, Cordelia and Carpentier, Justin},
     journal = {IEEE Transactions on Robotics},
     year = {2024},
     publisher = {IEEE},
     doi = {10.1109/TRO.2024.3434208},
     volume = {40},
     pages = {3716--3733},
     url = {https://hal.science/hal-04067291},
   }

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

   Antoine Bambade, Fabian Schramm, Adrien Taylor, and 1 more author

   In The Twelfth International Conference on Learning Representations, Nov 2024

   HAL Bib PDF Website

   @inproceedings{bambade2024leveraging,
     title = {Leveraging augmented-Lagrangian techniques for differentiating over infeasible quadratic programs in machine learning},
     author = {Bambade, Antoine and Schramm, Fabian and Taylor, Adrien and Carpentier, Justin},
     booktitle = {The Twelfth International Conference on Learning Representations},
     year = {2024},
     url = {https://hal.science/hal-04133055},
   }

4. Learning System Dynamics from Sensory Input under Optimal Control Principles

   Oumayma Bounou, Jean Ponce, and Justin Carpentier

   In CDC 2024 Conference on Decision and Control, Nov 2024

   HAL Bib PDF

   @inproceedings{bounou2024learning,
     title = {Learning System Dynamics from Sensory Input under Optimal Control Principles},
     author = {Bounou, Oumayma and Ponce, Jean and Carpentier, Justin},
     booktitle = {CDC 2024 Conference on Decision and Control},
     year = {2024},
     url = {https://hal.science/hal-04661974},
   }

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

   Ewen Louis Dantec, Wilson Jallet, and Justin Carpentier

   In 2024 IEEE-RAS 24th International Conference on Humanoid Robots, Nov 2024

   HAL Bib PDF

   @inproceedings{dantec2024centroidal,
     title = {From centroidal to whole-body models for legged locomotion: a comparative analysis},
     author = {Dantec, Ewen Louis and Jallet, Wilson and Carpentier, Justin},
     booktitle = {2024 IEEE-RAS 24th International Conference on Humanoid Robots},
     year = {2024},
     url = {https://hal.science/hal-04647996},
   }

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

   Bruce Wingo, Ajay Sathya, Stéphane Caron, and 2 more authors

   In Robotics: Science and Systems (RSS 2024), Nov 2024

   HAL Bib PDF

   @inproceedings{wingo2024linear,
     title = {Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective},
     author = {Wingo, Bruce and Sathya, Ajay and Caron, St{\'e}phane and Hutchinson, Seth and Carpentier, Justin},
     booktitle = {Robotics: Science and Systems (RSS 2024)},
     year = {2024},
     url = {https://hal.science/hal-04607809},
   }

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

   Elisa Alboni, Gianluigi Grandesso, Gastone Pietro Rosati Papini, and 2 more authors

   In 6th Annual Learning for Dynamics & Control Conference, Nov 2024

   arXiv Bib

   @inproceedings{alboni2024cacto,
     title = {CACTO-SL: Using Sobolev learning to improve continuous actor-critic with trajectory optimization},
     author = {Alboni, Elisa and Grandesso, Gianluigi and Papini, Gastone Pietro Rosati and Carpentier, Justin and Del Prete, Andrea},
     booktitle = {6th Annual Learning for Dynamics \& Control Conference},
     pages = {1452--1463},
     year = {2024},
     organization = {PMLR},
     url = {https://arxiv.org/abs/2312.10666},
   }

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

   Gabriele Fadini, Shivesh Kumar, Rohit Kumar, and 4 more authors

   Robotica, Nov 2024

   HAL Bib PDF

   @article{fadini2024co,
     title = {Co-designing versatile quadruped robots for dynamic and energy-efficient motions},
     author = {Fadini, Gabriele and Kumar, Shivesh and Kumar, Rohit and Flayols, Thomas and Del Prete, Andrea and Carpentier, Justin and Sou{\`e}res, Philippe},
     journal = {Robotica},
     volume = {42},
     number = {6},
     pages = {2004--2025},
     year = {2024},
     publisher = {Cambridge University Press},
     url = {https://hal.science/hal-04162737},
   }

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

   Justin Carpentier, Louis Montaut, and Quentin Le Lidec

   In Robotics: Science and Systems (RSS 2024), Nov 2024

   HAL Bib PDF

   @inproceedings{carpentier2024compliant,
     title = {From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach},
     author = {Carpentier, Justin and Montaut, Louis and Lidec, Quentin Le},
     booktitle = {Robotics: Science and Systems (RSS 2024)},
     year = {2024},
     url = {https://hal.science/hal-04588906},
   }

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

    Wilson Jallet, Ewen Dantec, Etienne Arlaud, and 2 more authors

    In Robotics: Science and Systems (RSS 2024), Nov 2024

    HAL Bib PDF

    @inproceedings{jallet2024parallel,
      title = {Parallel and Proximal Linear-Quadratic Methods for Real-Time Constrained Model-Predictive Control},
      author = {Jallet, Wilson and Dantec, Ewen and Arlaud, Etienne and Mansard, Nicolas and Carpentier, Justin},
      booktitle = {Robotics: Science and Systems (RSS 2024)},
      year = {2024},
      url = {https://hal.science/hal-04575334},
    }

11. Force feedback model-predictive control via online estimation

    Armand Jordana, Sébastien Kleff, Justin Carpentier, and 2 more authors

    In 2024 IEEE International Conference on Robotics and Automation (ICRA), Nov 2024

    HAL Bib PDF

    @inproceedings{jordana2024force,
      title = {Force feedback model-predictive control via online estimation},
      author = {Jordana, Armand and Kleff, S{\'e}bastien and Carpentier, Justin and Mansard, Nicolas and Righetti, Ludovic},
      booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2024},
      url = {https://hal.science/hal-04564888},
    }

12. Risk-Sensitive Extended Kalman Filter

    Armand Jordana, Avadesh Meduri, Etienne Arlaud, and 2 more authors

    In 2024 IEEE International Conference on Robotics and Automation (ICRA), Nov 2024

    HAL Bib PDF

    @inproceedings{jordana2024risk,
      title = {Risk-Sensitive Extended Kalman Filter},
      author = {Jordana, Armand and Meduri, Avadesh and Arlaud, Etienne and Carpentier, Justin and Righetti, Ludovic},
      booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
      pages = {10450--10456},
      year = {2024},
      organization = {IEEE},
      url = {https://hal.science/hal-04107207},
    }

13. Leveraging randomized smoothing for optimal control of nonsmooth dynamical systems

    Quentin Le Lidec, Fabian Schramm, Louis Montaut, and 3 more authors

    Nonlinear Analysis: Hybrid Systems, Nov 2024

    HAL Bib PDF

    @article{le2024leveraging,
      title = {Leveraging randomized smoothing for optimal control of nonsmooth dynamical systems},
      author = {Le Lidec, Quentin and Schramm, Fabian and Montaut, Louis and Schmid, Cordelia and Laptev, Ivan and Carpentier, Justin},
      journal = {Nonlinear Analysis: Hybrid Systems},
      volume = {52},
      pages = {101468},
      year = {2024},
      publisher = {Elsevier},
      url = {https://hal.science/hal-03480419},
    }

14. Condensed semi-implicit dynamics for trajectory optimization in soft robotics

    Etienne Ménager, Alexandre Bilger, Wilson Jallet, and 2 more authors

    In 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), Nov 2024

    HAL Bib PDF

    @inproceedings{menager2024condensed,
      title = {Condensed semi-implicit dynamics for trajectory optimization in soft robotics},
      author = {M{\'e}nager, Etienne and Bilger, Alexandre and Jallet, Wilson and Carpentier, Justin and Duriez, Christian},
      booktitle = {2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)},
      pages = {808--815},
      year = {2024},
      organization = {IEEE},
      url = {https://hal.science/hal-04466639},
    }

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

    Louis Montaut, Quentin Le Lidec, Vladimir Petrik, and 2 more authors

    IEEE Transactions on Robotics, Nov 2024

    HAL Bib PDF

    @article{montaut2024gjk++,
      title = {GJK++: Leveraging Acceleration Methods for Faster Collision Detection},
      author = {Montaut, Louis and Le Lidec, Quentin and Petrik, Vladimir and Sivic, Josef and Carpentier, Justin},
      journal = {IEEE Transactions on Robotics},
      year = {2024},
      publisher = {IEEE},
      url = {https://hal.science/hal-04070039},
    }

16. Reconciling RaiSim With the Maximum Dissipation Principle

    Quentin Le Lidec, and Justin Carpentier

    IEEE Transactions on Robotics, Nov 2024

    HAL Bib PDF

    @article{le2024reconciling,
      author = {Le Lidec, Quentin and Carpentier, Justin},
      journal = {IEEE Transactions on Robotics},
      title = {Reconciling RaiSim With the Maximum Dissipation Principle},
      year = {2024},
      volume = {40},
      number = {},
      pages = {3638-3641},
      url = {https://hal.science/hal-04438175},
    }

17. A Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices

    Etienne Moullet, Justin Carpentier, Christine Azevedo-Coste, and 1 more author

    In International Conference on NeuroRehabilitation, Nov 2024

    HAL Bib PDF

    @inproceedings{moullet2024grasping,
      title = {A Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices},
      author = {Moullet, Etienne and Carpentier, Justin and Azevedo-Coste, Christine and Bailly, Fran{\c{c}}ois},
      booktitle = {International Conference on NeuroRehabilitation},
      pages = {160--164},
      year = {2024},
      organization = {Springer Nature Switzerland Cham},
      url = {https://hal.science/hal-04706628},
    }

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

    Etienne Moullet, Justin Carpentier, Christine Azevedo Coste, and 1 more author

    In 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), Nov 2024

    HAL Bib PDF

    @inproceedings{moullet2024grip,
      title = {i-GRIP, a Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices},
      author = {Moullet, Etienne and Carpentier, Justin and Coste, Christine Azevedo and Bailly, Fran{\c{c}}ois},
      booktitle = {2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)},
      year = {2024},
      url = {https://hal.science/hal-04706577},
    }

19. Optimization-based efficient algorithms for robot dynamics simulation and control

    Ajay Suresha Sathya, Lander Vanroye, and Justin Carpentier

    In Book of abstracts PGMO DAYS 2024, Nov 2024

    Bib

    @inproceedings{sathya2024optimization,
      title = {Optimization-based efficient algorithms for robot dynamics simulation and control},
      author = {Sathya, Ajay Suresha and Vanroye, Lander and Carpentier, Justin},
      pages = {116},
      year = {2024},
      booktitle = {Book of abstracts PGMO DAYS 2024},
      url = {https://fmjh.imo.universite-paris-saclay.fr/media/filer_public/a4/f7/a4f795b0-1a5a-4efb-a327-c44887361100/pgmo-2024-booklet1.pdf},
    }

20. Whole-body trajectory optimization

    Melya Boukheddimi, Rohit Kumar, Shivesh Kumar, and 2 more authors

    In Biologically Inspired Series-Parallel Hybrid Robots: Design, Analysis, and Control, Nov 2024

    Bib

    @incollection{boukheddimi2024whole,
      title = {Whole-body trajectory optimization},
      author = {Boukheddimi, Melya and Kumar, Rohit and Kumar, Shivesh and Carpentier, Justin and Kirchner, Frank},
      pages = {213--229},
      year = {2024},
      publisher = {Elsevier},
      booktitle = {Biologically Inspired Series-Parallel Hybrid Robots: Design, Analysis, and Control},
      chapter = {10},
      url = {https://www.dfki.de/web/forschung/projekte-publikationen/publikation/15950},
    }

2023

1. Differentiable collision detection: a randomized smoothing approach

   Louis Montaut, Quentin Le Lidec, Antoine Bambade, and 3 more authors

   In 2023 IEEE International Conference on Robotics and Automation (ICRA), Nov 2023

   HAL Bib PDF

   @inproceedings{montaut2023differentiable,
     title = {{Differentiable collision detection: a randomized smoothing approach}},
     author = {Montaut, Louis and {Le Lidec}, Quentin and Bambade, Antoine and Petrik, Vladimir and Sivic, Josef and Carpentier, Justin},
     booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {3240--3246},
     year = {2023},
     url = {https://hal.science/hal-03780482},
   }

2. Leveraging proximal optimization for differentiating optimal control solvers

   Oumayma Bounou, Jean Ponce, and Justin Carpentier

   In 2023 62nd IEEE Conference on Decision and Control (CDC), Nov 2023

   HAL Bib PDF

   @inproceedings{bounou2023leveraging,
     title = {Leveraging proximal optimization for differentiating optimal control solvers},
     author = {Bounou, Oumayma and Ponce, Jean and Carpentier, Justin},
     booktitle = {2023 62nd IEEE Conference on Decision and Control (CDC)},
     pages = {6313--6320},
     year = {2023},
     organization = {IEEE},
     url = {https://hal.science/hal-03786820},
   }

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

   Kateryna Zorina, David Kovar, Florent Lamiraux, and 4 more authors

   In ICRA 2023-International Conference on Robotics and Automation, Nov 2023

   HAL Bib PDF

   @inproceedings{zorina2023multi,
     title = {Multi-Contact Task and Motion Planning Guided by Video Demonstration},
     author = {Zorina, Kateryna and Kovar, David and Lamiraux, Florent and Mansard, Nicolas and Carpentier, Justin and Sivic, Josef and Petrik, Vladimir},
     booktitle = {ICRA 2023-International Conference on Robotics and Automation},
     year = {2023},
     url = {https://hal.science/hal-03945110},
   }

4. Vision-based interface for grasping intention detection and grip selection: towards intuitive upper-limb assistive devices

   Etienne Moullet, François Bailly, Justin Carpentier, and 1 more author

   Nov 2023

   HAL Bib PDF

   @article{moullet2023vision,
     title = {Vision-based interface for grasping intention detection and grip selection: towards intuitive upper-limb assistive devices},
     author = {Moullet, Etienne and Bailly, Fran{\c{c}}ois and Carpentier, Justin and Coste, Christine Azevedo},
     year = {2023},
     url = {https://hal.science/hal-04141469},
   }

5. Investigations into exploiting the full capabilities of a series-parallel hybrid humanoid using whole body trajectory optimization

   Melya Boukheddimi, Rohit Kumar, Shivesh Kumar, and 2 more authors

   In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2023

   Bib PDF

   @inproceedings{boukheddimi2023investigations,
     title = {Investigations into exploiting the full capabilities of a series-parallel hybrid humanoid using whole body trajectory optimization},
     author = {Boukheddimi, Melya and Kumar, Rohit and Kumar, Shivesh and Carpentier, Justin and Kirchner, Frank},
     booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {10433--10439},
     year = {2023},
     organization = {IEEE},
     url = {https://www-live.dfki.de/fileadmin/user_upload/import/14162_20231011_output.pdf},
   }

6. ProxQP: an efficient and versatile quadratic programming solver for real-time robotics applications and beyond

   Antoine Bambade, Fabian Schramm, Sarah El Kazdadi, and 3 more authors

   Nov 2023

   Under review at IEEE Transactions on Robotics

   HAL Bib PDF

   @unpublished{bambade2023proxqp,
     title = {ProxQP: an efficient and versatile quadratic programming solver for real-time robotics applications and beyond},
     author = {Bambade, Antoine and Schramm, Fabian and El Kazdadi, Sarah and Caron, St{\'e}phane and Taylor, Adrien and Carpentier, Justin},
     year = {2023},
     note = {Under review at IEEE Transactions on Robotics},
     url = {https://hal.science/hal-04198663},
   }

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

   Quentin Le Lidec, Wilson Jallet, Ivan Laptev, and 2 more authors

   In 2023 International Conference on Robotics and Automation (ICRA), May 2023

   HAL Bib PDF

   @inproceedings{le2023enforcing,
     title = {{Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control}},
     author = {Le Lidec, Quentin and Jallet, Wilson and Laptev, Ivan and Schmid, Cordelia and Carpentier, Justin},
     booktitle = {{2023 International Conference on Robotics and Automation (ICRA)}},
     pages = {946--952},
     year = {2023},
     organization = {IEEE},
     month = may,
     url = {https://hal.science/hal-03780392},
   }

8. Companion Report of PROXQP: an Efficient and Versatile Quadratic Programming Solver for Real-Time Robotics Applications and Beyond

   Antoine Bambade, Fabian Schramm, Sarah El Kazdadi, and 3 more authors

   Sep 2023

   HAL Bib PDF

   @techreport{bambade2023companion,
     title = {{Companion Report of PROXQP: an Efficient and Versatile Quadratic Programming Solver for Real-Time Robotics Applications and Beyond}},
     author = {Bambade, Antoine and Schramm, Fabian and Kazdadi, Sarah El and Caron, St{\'e}phane and Taylor, Adrien and Carpentier, Justin},
     year = {2023},
     institution = {{INRIA}},
     month = sep,
     url = {https://hal.science/hal-04196897},
   }

9. Interplay between Optimal Control and Reinforcement Learning for Agile Locomotion and Dexterous Manipulation in Robotics

   F Schramm, N Perrin-Gilbert, and J Carpentier

   Sep 2023

   Bib

   @misc{schramminterplay,
     title = {Interplay between Optimal Control and Reinforcement Learning for Agile Locomotion and Dexterous Manipulation in Robotics},
     author = {Schramm, F and Perrin-Gilbert, N and Carpentier, J},
     year = {2023},
     howpublished = {Poster presented at the inauguration of the AI4IDF DIM, April 20, 2023},
     url = {https://ai4idf.fr/papers/view/n3677d7456f2497625ca},
   }

2022

1. Constrained Differential Dynamic Programming: A Primal-Dual Augmented Lagrangian Approach

   Wilson Jallet, Antoine Bambade, Nicolas Mansard, and 1 more author

   In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022

   DOI HAL Bib PDF

   @inproceedings{jallet2022constrained,
     title = {{Constrained Differential Dynamic Programming: A Primal-Dual Augmented Lagrangian Approach}},
     shorttitle = {Constrained Differential Dynamic Programming},
     booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems},
     author = {Jallet, Wilson and Bambade, Antoine and Mansard, Nicolas and Carpentier, Justin},
     year = {2022},
     month = oct,
     address = {Kyoto, Japan},
     doi = {10.1109/IROS47612.2022.9981586},
     urldate = {2022-09-25},
     pages = {13371--13378},
     organization = {IEEE},
     url = {https://hal.science/hal-03597630},
   }

2. Implicit Differential Dynamic Programming

   Wilson Jallet, Nicolas Mansard, and Justin Carpentier

   In 2022 International Conference on Robotics and Automation (ICRA), May 2022

   DOI HAL Bib PDF

   @inproceedings{jallet2022implicit,
     title = {{Implicit Differential Dynamic Programming}},
     booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
     author = {Jallet, Wilson and Mansard, Nicolas and Carpentier, Justin},
     year = {2022},
     month = may,
     publisher = {IEEE},
     address = {Philadelphia, United States},
     doi = {10.1109/ICRA46639.2022.9811647},
     urldate = {2022-02-18},
     isbn = {978-1-7281-9681-7},
     keywords = {Dynamic programming,Dynamics,Humanoid robots,Legged locomotion,Optimal control,Reliability,Stability analysis},
     url = {https://hal.science/hal-03351641},
   }

3. Collision Detection Accelerated: An Optimization Perspective

   Louis Montaut, Quentin Le Lidec, Vladimir Petrik, and 2 more authors

   In RSS 2022-Robotics: Science and Systems, May 2022

   HAL Bib PDF

   @inproceedings{montaut2022collision,
     title = {{Collision Detection Accelerated: An Optimization Perspective}},
     author = {Montaut, Louis and {Le Lidec}, Quentin and Petrik, Vladimir and Sivic, Josef and Carpentier, Justin},
     booktitle = {RSS 2022-Robotics: Science and Systems},
     year = {2022},
     url = {https://hal.science/hal-03662157},
   }

4. Infinite-dimensional sums-of-squares for optimal control

   Eloise Berthier, Justin Carpentier, Alessandro Rudi, and 1 more author

   In 2022 IEEE 61st Conference on Decision and Control (CDC), May 2022

   HAL Bib PDF

   @inproceedings{berthier2022infinite,
     title = {Infinite-dimensional sums-of-squares for optimal control},
     author = {Berthier, Eloise and Carpentier, Justin and Rudi, Alessandro and Bach, Francis},
     booktitle = {2022 IEEE 61st Conference on Decision and Control (CDC)},
     pages = {577--582},
     year = {2022},
     organization = {IEEE},
     url = {https://hal.science/hal-03377120},
   }

5. Exponential integration for efficient and accurate multibody simulation with stiff viscoelastic contacts

   Bilal Hammoud, Luca Olivieri, Ludovic Righetti, and 2 more authors

   Multibody System Dynamics, May 2022

   arXiv Bib

   @article{hammoud2022exponential,
     title = {Exponential integration for efficient and accurate multibody simulation with stiff viscoelastic contacts},
     author = {Hammoud, Bilal and Olivieri, Luca and Righetti, Ludovic and Carpentier, Justin and Del Prete, Andrea},
     journal = {Multibody System Dynamics},
     volume = {54},
     number = {4},
     pages = {443--460},
     year = {2022},
     publisher = {Springer},
     url = {https://arxiv.org/abs/2101.06846},
   }

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

   Antoine Bambade, Sarah El-Kazdadi, Adrien Taylor, and 1 more author

   In RSS 2022-Robotics: Science and Systems, May 2022

   HAL Bib PDF

   @inproceedings{bambade2022prox,
     title = {PROX-QP: Yet another Quadratic Programming Solver for Robotics and beyond},
     author = {Bambade, Antoine and El-Kazdadi, Sarah and Taylor, Adrien and Carpentier, Justin},
     booktitle = {RSS 2022-Robotics: Science and Systems},
     year = {2022},
     url = {https://hal.science/hal-03683733},
   }

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

   Wilson Jallet, Antoine Bambade, Nicolas Mansard, and 1 more author

   In 6th Legged Robots Workshop, May 2022

   HAL Bib PDF

   @inproceedings{jallet2022proxnlp,
     title = {ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond},
     author = {Jallet, Wilson and Bambade, Antoine and Mansard, Nicolas and Carpentier, Justin},
     booktitle = {6th Legged Robots Workshop},
     year = {2022},
     url = {https://hal.science/hal-03680510},
   }

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

   Yann Labbé, Lucas Manuelli, Arsalan Mousavian, and 7 more authors

   In 6th Annual Conference on Robot Learning, May 2022

   HAL Bib PDF

   @inproceedings{labbe2022megapose,
     title = {MegaPose: 6D Pose Estimation of Novel Objects via Render \& Compare},
     author = {Labb{\'e}, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef},
     booktitle = {6th Annual Conference on Robot Learning},
     year = {2022},
     url = {https://hal.science/hal-03910329},
   }

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

   Sébastien Kleff, Justin Carpentier, Nicolas Mansard, and 1 more author

   In 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), May 2022

   HAL Bib PDF

   @inproceedings{kleff2022derivation,
     title = {On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos},
     author = {Kleff, S{\'e}bastien and Carpentier, Justin and Mansard, Nicolas and Righetti, Ludovic},
     booktitle = {2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)},
     pages = {512--517},
     year = {2022},
     organization = {IEEE},
     url = {https://hal.science/hal-03758989},
   }

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

    Zongmian Li, Jiri Sedlar, Justin Carpentier, and 3 more authors

    International Journal of Computer Vision, Feb 2022

    DOI HAL Bib

    @article{li2022estimating,
      title = {{Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos}},
      author = {Li, Zongmian and Sedlar, Jiri and Carpentier, Justin and Laptev, Ivan and Mansard, Nicolas and Sivic, Josef},
      journal = {{International Journal of Computer Vision}},
      volume = {130},
      number = {2},
      pages = {363--383},
      year = {2022},
      publisher = {Springer US},
      month = feb,
      doi = {10.1007/s11263-021-01540-1},
      url = {https://hal.science/hal-03420419},
    }

11. Stagewise Newton Method for Dynamic Game Control with Imperfect State Observation

    Armand Jordana, Bilal Hammoud, Justin Carpentier, and 1 more author

    IEEE Control Systems Letters, Jun 2022

    DOI HAL Bib PDF

    @article{jordana2022stagewise,
      title = {{Stagewise Newton Method for Dynamic Game Control with Imperfect State Observation}},
      author = {Jordana, Armand and Hammoud, Bilal and Carpentier, Justin and Righetti, Ludovic},
      journal = {{IEEE Control Systems Letters}},
      volume = {6},
      pages = {3241--3246},
      year = {2022},
      publisher = {IEEE},
      month = jun,
      doi = {10.1109/LCSYS.2022.3184657},
      url = {https://hal.science/hal-03705557},
    }

12. Augmenting differentiable physics with randomized smoothing

    Quentin Le Lidec, Louis Montaut, Cordelia Schmid, and 2 more authors

    In RSS 2022 - Robotics Science and Systems, Workshop on Differentiable Simulation For Robotics, Jun 2022

    arXiv HAL Bib PDF

    @inproceedings{lidec2022augmenting,
      title = {{Augmenting differentiable physics with randomized smoothing}},
      author = {Le Lidec, Quentin and Montaut, Louis and Schmid, Cordelia and Laptev, Ivan and Carpentier, Justin},
      year = {2022},
      booktitle = {{RSS 2022 - Robotics Science and Systems, Workshop on Differentiable Simulation For Robotics}},
      month = jun,
      url = {https://hal.science/hal-03703324},
    }

2021

1. Proximal and Sparse Resolution of Constrained Dynamic Equations

   Justin Carpentier, Rohan Budhiraja, and Nicolas Mansard

   In Robotics: Science and Systems 2021, Jun 2021

   HAL Bib PDF

   @inproceedings{carpentier2021proximal,
     title = {Proximal and Sparse Resolution of Constrained Dynamic Equations},
     author = {Carpentier, Justin and Budhiraja, Rohan and Mansard, Nicolas},
     booktitle = {Robotics: Science and Systems 2021},
     year = {2021},
     url = {https://hal.science/hal-03271811},
   }

2. Learning obstacle representations for neural motion planning

   Robin Strudel, Ricardo Garcia Pinel, Justin Carpentier, and 3 more authors

   In Conference on Robot Learning, Jun 2021

   HAL Bib PDF

   @inproceedings{strudel2021learning,
     title = {Learning obstacle representations for neural motion planning},
     author = {Strudel, Robin and Pinel, Ricardo Garcia and Carpentier, Justin and Laumond, Jean-Paul and Laptev, Ivan and Schmid, Cordelia},
     booktitle = {Conference on Robot Learning},
     pages = {355--364},
     year = {2021},
     organization = {PMLR},
     url = {https://hal.science/hal-02944348},
   }

3. Fast and Robust Stability Region Estimation for Nonlinear Dynamical Systems

   Eloise Berthier, Justin Carpentier , and Francis Bach

   In 2021 European Control Conference (ECC), Jun 2021

   HAL Bib PDF

   @inproceedings{berthier2021fast,
     title = {Fast and Robust Stability Region Estimation for Nonlinear Dynamical Systems},
     author = {Berthier, Eloise and Carpentier, Justin and Bach, Francis},
     booktitle = {2021 European Control Conference (ECC)},
     pages = {1412--1419},
     year = {2021},
     organization = {IEEE},
     url = {https://hal.science/hal-02984348},
   }

4. A hybrid collision model for safety collision control

   Thibault Noël, Thomas Flayols, Joseph Mirabel, and 2 more authors

   In 2021 IEEE International Conference on Robotics and Automation (ICRA), Jun 2021

   HAL Bib PDF

   @inproceedings{noel2021hybrid,
     title = {A hybrid collision model for safety collision control},
     author = {No{\"e}l, Thibault and Flayols, Thomas and Mirabel, Joseph and Carpentier, Justin and Mansard, Nicolas},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {1722--1728},
     year = {2021},
     organization = {IEEE},
     url = {https://hal.science/hal-03000951},
   }

5. Differentiable simulation for physical system identification

   Quentin Le Lidec, Igor Kalevatykh, Ivan Laptev, and 2 more authors

   IEEE Robotics and Automation Letters, Jun 2021

   DOI HAL Bib PDF

   @article{le2021differentiablesim,
     title = {Differentiable simulation for physical system identification},
     author = {Le Lidec, Quentin and Kalevatykh, Igor and Laptev, Ivan and Schmid, Cordelia and Carpentier, Justin},
     journal = {IEEE Robotics and Automation Letters},
     volume = {6},
     number = {2},
     pages = {3413--3420},
     year = {2021},
     publisher = {IEEE},
     doi = {10.1109/LRA.2021.3062323},
     url = {https://hal.science/hal-03025616},
   }

6. Fast model predictive control of robotic manipulators - Analytical derivatives

   Alejandro Astudillo Vigoya, Justin Carpentier, Joris Gillis, and 2 more authors

   In Flanders Make Scientific Conference 2021, Location: Online, Jun 2021

   Bib

   @inproceedings{astudillo2021fast,
     title = {Fast model predictive control of robotic manipulators - Analytical derivatives},
     author = {Astudillo Vigoya, Alejandro and Carpentier, Justin and Gillis, Joris and Pipeleers, Goele and Swevers, Jan},
     booktitle = {Flanders Make Scientific Conference 2021, Location: Online},
     year = {2021},
   }

7. Computational details for:" Optimal Estimation of the Centroidal Dynamics of Legged Robots"

   François Bailly, Justin Carpentier, and Philippe Souères

   Jun 2021

   HAL Bib PDF

   @misc{bailly2021computational,
     title = {Computational details for:" Optimal Estimation of the Centroidal Dynamics of Legged Robots"},
     author = {Bailly, Fran{\c{c}}ois and Carpentier, Justin and Sou{\`e}res, Philippe},
     year = {2021},
     school = {LAAS-CNRS; Universit{\'e} de Montr{\'e}al},
     url = {https://hal.science/hal-03180052},
   }

8. Equality constrained differential dynamic programming

   Sarah El Kazdadi, Justin Carpentier, and Jean Ponce

   In 2021 IEEE International Conference on Robotics and Automation (ICRA), Jun 2021

   HAL Bib PDF

   @inproceedings{el2021equality,
     title = {Equality constrained differential dynamic programming},
     author = {El Kazdadi, Sarah and Carpentier, Justin and Ponce, Jean},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {8053--8059},
     year = {2021},
     organization = {IEEE},
     url = {https://hal.science/hal-03184203},
   }

9. Optimal estimation of the centroidal dynamics of legged robots

   François Bailly, Justin Carpentier, and Philippe Souères

   In 2021 IEEE International Conference on Robotics and Automation (ICRA), Jun 2021

   HAL Bib PDF

   @inproceedings{bailly2021optimal,
     title = {Optimal estimation of the centroidal dynamics of legged robots},
     author = {Bailly, Fran{\c{c}}ois and Carpentier, Justin and Sou{\`e}res, Philippe},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {4912--4918},
     year = {2021},
     organization = {IEEE},
     url = {https://hal.science/hal-03193940},
   }

10. Recent progress in legged robots locomotion control

    Justin Carpentier, and Pierre-Brice Wieber

    Current Robotics Reports, Jun 2021

    DOI HAL Bib PDF

    @article{carpentier2021recent,
      title = {Recent progress in legged robots locomotion control},
      author = {Carpentier, Justin and Wieber, Pierre-Brice},
      journal = {Current Robotics Reports},
      volume = {2},
      number = {3},
      pages = {231--238},
      year = {2021},
      publisher = {Springer International Publishing},
      doi = {10.1007/s43154-021-00059-0},
      url = {https://hal.science/hal-03193886},
    }

11. Single-view robot pose and joint angle estimation via render & compare

    Yann Labbé, Justin Carpentier, Mathieu Aubry, and 1 more author

    In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, Jun 2021

    DOI HAL Bib

    @inproceedings{labbe2021single,
      title = {Single-view robot pose and joint angle estimation via render \& compare},
      author = {Labb{\'e}, Yann and Carpentier, Justin and Aubry, Mathieu and Sivic, Josef},
      booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
      pages = {1654--1663},
      year = {2021},
      organization = {IEEE},
      doi = {10.1109/cvpr46437.2021.00170},
      url = {https://hal.science/hal-03572205},
    }

12. Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting

    Armand Jordana, Justin Carpentier, and Ludovic Righetti

    Jun 2021

    arXiv Bib

    @unpublished{jordana2021learning,
      title = {Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting},
      author = {Jordana, Armand and Carpentier, Justin and Righetti, Ludovic},
      year = {2021},
      url = {https://arxiv.org/abs/2106.11712},
    }

13. Efficient, Generic and Robust Resolution of Constrained Dynamics

    Justin Carpentier, Rohan Budhiraja, and Nicolas Mansard

    In Journees Nationales de la Robotique Humanoide, Jun 2021

    Bib PDF

    @inproceedings{carpentier2021efficient,
      title = {Efficient, Generic and Robust Resolution of Constrained Dynamics},
      author = {Carpentier, Justin and Budhiraja, Rohan and Mansard, Nicolas},
      booktitle = {Journees Nationales de la Robotique Humanoide},
      year = {2021},
      url = {https://jnrh2021.sciencesconf.org/data/program/workshop_constrained_dynamics.pdf},
    }

14. Differentiable rendering with perturbed optimizers

    Quentin Le Lidec, Ivan Laptev, Cordelia Schmid, and 1 more author

    Advances in Neural Information Processing Systems, Jun 2021

    HAL Bib PDF

    @article{le2021differentiable,
      title = {Differentiable rendering with perturbed optimizers},
      author = {Le Lidec, Quentin and Laptev, Ivan and Schmid, Cordelia and Carpentier, Justin},
      journal = {Advances in Neural Information Processing Systems},
      volume = {34},
      pages = {20398--20409},
      year = {2021},
      url = {https://hal.science/hal-03378451},
    }

15. Learning to Manipulate Tools by Aligning Simulation to Video Demonstration

    Kateryna Zorina, Justin Carpentier, Josef Sivic, and 1 more author

    IEEE Robotics and Automation Letters, Jun 2021

    HAL Bib PDF

    @article{zorina2021learning,
      title = {Learning to Manipulate Tools by Aligning Simulation to Video Demonstration},
      author = {Zorina, Kateryna and Carpentier, Justin and Sivic, Josef and Petr{\'\i}k, Vladim{\'\i}r},
      journal = {IEEE Robotics and Automation Letters},
      volume = {7},
      number = {1},
      pages = {438--445},
      year = {2021},
      publisher = {IEEE},
      url = {https://hal.science/hal-03478117},
    }

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

    Oumayma Bounou, Jean Ponce, and Justin Carpentier

    Advances in Neural Information Processing Systems, Jun 2021

    HAL Bib PDF

    @article{bounou2021online,
      title = {Online Learning and Control of Complex Dynamical Systems from Sensory Input},
      author = {Bounou, Oumayma and Ponce, Jean and Carpentier, Justin},
      journal = {Advances in Neural Information Processing Systems},
      volume = {34},
      pages = {27852--27864},
      year = {2021},
      url = {https://hal.science/hal-03405911},
    }

17. Mixed Use of Analytical Derivatives and Algorithmic Differentiation for NMPC of Robot Manipulators

    Alejandro Astudillo, Justin Carpentier, Joris Gillis, and 2 more authors

    IFAC-PapersOnLine, Jun 2021

    HAL Bib PDF

    @article{astudillo2021mixedifac,
      title = {Mixed Use of Analytical Derivatives and Algorithmic Differentiation for NMPC of Robot Manipulators},
      author = {Astudillo, Alejandro and Carpentier, Justin and Gillis, Joris and Pipeleers, Goele and Swevers, Jan},
      journal = {IFAC-PapersOnLine},
      volume = {54},
      number = {20},
      pages = {78--83},
      year = {2021},
      publisher = {Elsevier},
      url = {https://hal.science/hal-03541487},
    }

18. Mixed Use of Analytical Derivatives and Algorithmic Differentiation for NMPC of Robot Manipulators

    Alejandro Astudillo Vigoya, Justin Carpentier, Joris Gillis, and 2 more authors

    In Modeling, Estimation and Control Conference MECC 2021, Jun 2021

    HAL Bib PDF

    @inproceedings{astudillo2021mixed,
      title = {Mixed Use of Analytical Derivatives and Algorithmic Differentiation for NMPC of Robot Manipulators},
      author = {Astudillo Vigoya, Alejandro and Carpentier, Justin and Gillis, Joris and Pipeleers, Goele and Swevers, Jan},
      booktitle = {Modeling, Estimation and Control Conference MECC 2021},
      volume = {54},
      number = {20},
      year = {2021},
      organization = {ScienceDirect},
      url = {https://hal.science/hal-03541487},
    }

2020

1. Crocoddyl: An efficient and versatile framework for multi-contact optimal control

   Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, and 7 more authors

   In 2020 IEEE International Conference on Robotics and Automation (ICRA), Jun 2020

   DOI HAL Bib PDF

   @inproceedings{mastalli2020crocoddyl,
     title = {Crocoddyl: An efficient and versatile framework for multi-contact optimal control},
     author = {Mastalli, Carlos and Budhiraja, Rohan and Merkt, Wolfgang and Saurel, Guilhem and Hammoud, Bilal and Naveau, Maximilien and Carpentier, Justin and Righetti, Ludovic and Vijayakumar, Sethu and Mansard, Nicolas},
     booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2020},
     pages = {2536--2542},
     organization = {IEEE},
     doi = {10.1109/ICRA40945.2020.9196673},
     url = {https://hal.science/hal-02294059},
   }

2. C-croc: Continuous and convex resolution of centroidal dynamic trajectories for legged robots in multicontact scenarios

   Pierre Fernbach, Steve Tonneau, Olivier Stasse, and 2 more authors

   IEEE Transactions on Robotics, Jun 2020

   HAL Bib PDF

   @article{fernbach2020c,
     title = {C-croc: Continuous and convex resolution of centroidal dynamic trajectories for legged robots in multicontact scenarios},
     author = {Fernbach, Pierre and Tonneau, Steve and Stasse, Olivier and Carpentier, Justin and Taix, Michel},
     journal = {IEEE Transactions on Robotics},
     volume = {36},
     number = {3},
     pages = {676--691},
     year = {2020},
     publisher = {IEEE},
     url = {https://hal.science/hal-01894869},
   }

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

   Yann Labbé, Sergey Zagoruyko, Igor Kalevatykh, and 4 more authors

   IEEE Robotics and Automation Letters, Jun 2020

   DOI HAL Bib PDF

   @article{labbe2020monte,
     title = {Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning},
     author = {Labb{\'e}, Yann and Zagoruyko, Sergey and Kalevatykh, Igor and Laptev, Ivan and Carpentier, Justin and Aubry, Mathieu and Sivic, Josef},
     journal = {IEEE Robotics and Automation Letters},
     volume = {5},
     number = {2},
     pages = {3715--3722},
     year = {2020},
     publisher = {IEEE},
     doi = {10.1109/LRA.2020.2980984},
     url = {https://hal.science/hal-02108930},
   }

4. Recursive Filtering of Kinetic and Kinematic Data for Center of Mass and Angular Momentum Derivative Estimation

   François Bailly, Justin Carpentier, Bruno Watier, and 1 more author

   In Computer Methods, Imaging and Visualization in Biomechanics and Biomedical Engineering: Selected Papers from the 16th International Symposium CMBBE and 4th Conference on Imaging and Visualization, August 14-16, 2019, New York City, USA, Jun 2020

   Bib

   @inproceedings{bailly2020recursive,
     title = {Recursive Filtering of Kinetic and Kinematic Data for Center of Mass and Angular Momentum Derivative Estimation},
     author = {Bailly, Fran{\c{c}}ois and Carpentier, Justin and Watier, Bruno and Sou{\`e}res, Philippe},
     booktitle = {Computer Methods, Imaging and Visualization in Biomechanics and Biomedical Engineering: Selected Papers from the 16th International Symposium CMBBE and 4th Conference on Imaging and Visualization, August 14-16, 2019, New York City, USA},
     pages = {398--410},
     year = {2020},
     organization = {Springer International Publishing},
   }

5. Crocoddyl: Fast computation, Efficient solvers, Receding horizon and Learning

   Rohan Budhiraja, Amit Parag, Ewen Dantec, and 3 more authors

   In Journees Nationales de la Robotique Humanoide, Jun 2020

   HAL Bib

   @inproceedings{budhiraja2020crocoddyl,
     title = {Crocoddyl: Fast computation, Efficient solvers, Receding horizon and Learning},
     author = {Budhiraja, Rohan and Parag, Amit and Dantec, Ewen and Carpentier, Justin and Mastalli, Carlos and Mansard, Nicolas},
     booktitle = {Journees Nationales de la Robotique Humanoide},
     year = {2020},
     url = {https://hal.science/hal-02898916},
   }

6. Cosypose: Consistent multi-view multi-object 6d pose estimation

   Yann Labbé, Justin Carpentier, Mathieu Aubry, and 1 more author

   In Computer Vision–ECCV 2020: 16th European Conference, Glasgow, UK, August 23–28, 2020, Proceedings, Part XVII 16, Jun 2020

   HAL Bib

   @inproceedings{labbe2020cosypose,
     title = {Cosypose: Consistent multi-view multi-object 6d pose estimation},
     author = {Labb{\'e}, Yann and Carpentier, Justin and Aubry, Mathieu and Sivic, Josef},
     booktitle = {Computer Vision--ECCV 2020: 16th European Conference, Glasgow, UK, August 23--28, 2020, Proceedings, Part XVII 16},
     pages = {574--591},
     year = {2020},
     organization = {Springer International Publishing Cham},
     url = {https://hal.science/hal-02950800},
   }

2019

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

   Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, and 4 more authors

   In 2019 IEEE/SICE International Symposium on System Integration (SII), Jun 2019

   HAL Bib PDF

   @inproceedings{carpentier2019pinocchio,
     title = {The Pinocchio C++ library -- A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives},
     author = {Carpentier, Justin and Saurel, Guilhem and Buondonno, Gabriele and Mirabel, Joseph and Lamiraux, Florent and Stasse, Olivier and Mansard, Nicolas},
     booktitle = {2019 IEEE/SICE International Symposium on System Integration (SII)},
     pages = {614--619},
     year = {2019},
     organization = {IEEE},
     url = {https://hal.science/hal-01866228},
   }

2. Estimating the center of mass and the angular momentum derivative for legged locomotion—a recursive approach

   François Bailly, Justin Carpentier, Mehdi Benallegue, and 2 more authors

   IEEE Robotics and Automation Letters, Jun 2019

   HAL Bib PDF

   @article{bailly2019estimating,
     title = {Estimating the center of mass and the angular momentum derivative for legged locomotion—a recursive approach},
     author = {Bailly, Fran{\c{c}}ois and Carpentier, Justin and Benallegue, Mehdi and Watier, Bruno and Sou{\`e}res, Philippe},
     journal = {IEEE Robotics and Automation Letters},
     volume = {4},
     number = {4},
     pages = {4155--4162},
     year = {2019},
     publisher = {IEEE},
     url = {https://hal.science/hal-02058890},
   }

3. Estimating 3d motion and forces of person-object interactions from monocular video

   Zongmian Li, Jiri Sedlar, Justin Carpentier, and 3 more authors

   In 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Jun 2019

   DOI HAL Bib

   @inproceedings{li2019estimating,
     title = {Estimating 3d motion and forces of person-object interactions from monocular video},
     author = {Li, Zongmian and Sedlar, Jiri and Carpentier, Justin and Laptev, Ivan and Mansard, Nicolas and Sivic, Josef},
     booktitle = {2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
     pages = {8632--8641},
     year = {2019},
     organization = {IEEE},
     doi = {10.1109/CVPR.2019.00884},
     url = {https://hal.science/hal-03411657},
   }

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

   Rohan Budhiraja, Justin Carpentier, and Nicolas Mansard

   In ICRA 2019-IEEE International Conference on Robotics and Automation, Jun 2019

   HAL Bib PDF

   @inproceedings{budhiraja2019dynamics,
     title = {Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots},
     author = {Budhiraja, Rohan and Carpentier, Justin and Mansard, Nicolas},
     booktitle = {ICRA 2019-IEEE International Conference on Robotics and Automation},
     year = {2019},
     url = {https://hal.science/hal-01875031},
   }

5. Recursive estimation of the human body’s center of mass and angular momentum derivative

   François Bailly, Justin Carpentier, Bruno Watier, and 1 more author

   In CMBBE 16th Internat. Symposium on Computer Methods in Biomechanics and Biomedical Engineering, Jun 2019

   Bib

   @inproceedings{bailly2019recursive,
     title = {Recursive estimation of the human body’s center of mass and angular momentum derivative},
     author = {Bailly, Fran{\c{c}}ois and Carpentier, Justin and Watier, Bruno and Soueres, Philippe},
     booktitle = {CMBBE 16th Internat. Symposium on Computer Methods in Biomechanics and Biomedical Engineering},
     year = {2019},
   }

2018

1. Analytical derivatives of rigid body dynamics algorithms

   Justin Carpentier, and Nicolas Mansard

   In Robotics: Science and Systems (RSS 2018), Jun 2018

   HAL Bib PDF

   @inproceedings{carpentier2018analytical,
     title = {{Analytical derivatives of rigid body dynamics algorithms}},
     author = {Carpentier, Justin and Mansard, Nicolas},
     booktitle = {Robotics: Science and Systems (RSS 2018)},
     year = {2018},
     url = {https://hal.science/hal-01790971},
   }

2. Multi-contact Locomotion of Legged Robots

   Justin Carpentier, and Nicolas Mansard

   IEEE Transactions on Robotics, Jun 2018

   DOI HAL Bib PDF

   @article{carpentier2018multi,
     title = {Multi-contact Locomotion of Legged Robots},
     author = {Carpentier, Justin and Mansard, Nicolas},
     journal = {IEEE Transactions on Robotics},
     year = {2018},
     doi = {10.1109/TRO.2018.2862902},
     volume = {34},
     number = {6},
     pages = {1441--1460},
     url = {https://hal.science/hal-01859108},
   }

3. A mechanical descriptor of human locomotion and its application to multi-contact walking in humanoids

   François Bailly, Justin Carpentier, Bertrand Pinet, and 2 more authors

   In 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2018, Jun 2018

   HAL Bib PDF

   @inproceedings{bailly2018mechanical,
     title = {A mechanical descriptor of human locomotion and its application to multi-contact walking in humanoids},
     author = {Bailly, Fran{\c{c}}ois and Carpentier, Justin and Pinet, Bertrand and Sou{\`e}res, Philippe and Watier, Bruno},
     booktitle = {7th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2018},
     year = {2018},
     url = {https://hal.science/hal-01569252},
   }

4. Differential dynamic programming for multi-phase rigid contact dynamics

   Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, and 1 more author

   In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Jun 2018

   DOI HAL Bib PDF

   @inproceedings{budhiraja2018differential,
     title = {Differential dynamic programming for multi-phase rigid contact dynamics},
     author = {Budhiraja, Rohan and Carpentier, Justin and Mastalli, Carlos and Mansard, Nicolas},
     booktitle = {2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)},
     pages = {1--9},
     year = {2018},
     organization = {IEEE},
     doi = {10.1109/HUMANOIDS.2018.8624925},
     url = {https://hal.science/hal-01851596},
   }

5. Analytical Inverse of the Joint Space Inertia Matrix

   Justin Carpentier

   May 2018

   HAL Bib PDF

   @techreport{carpentier2018inverse,
     title = {{Analytical Inverse of the Joint Space Inertia Matrix}},
     author = {Carpentier, Justin},
     year = {2018},
     month = may,
     url = {https://hal.science/hal-01790934},
     institution = {LAAS-CNRS},
   }

2017

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

   Olivier Stasse, Thomas Flayols, Rohan Budhiraja, and 8 more authors

   In IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), May 2017

   DOI HAL Bib PDF

   @inproceedings{stasse2017talos,
     title = {TALOS: A new humanoid research platform targeted for industrial applications},
     author = {Stasse, Olivier and Flayols, Thomas and Budhiraja, Rohan and Giraud-Esclasse, Kevin and Carpentier, Justin and Del Prete, Andrea and Sou{\`e}res, Philippe and Mansard, Nicolas and Lamiraux, Florent and Laumond, Jean-Paul and others},
     booktitle = {IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)},
     year = {2017},
     doi = {10.1109/HUMANOIDS.2017.8246947},
     url = {https://hal.science/hal-01485519},
   }

2. On the centre of mass motion in human walking

   Justin Carpentier, Mehdi Benallegue, and Jean-Paul Laumond

   International Journal of Automation and Computing, May 2017

   HAL Bib PDF

   @article{carpentier2017centre,
     title = {On the centre of mass motion in human walking},
     author = {Carpentier, Justin and Benallegue, Mehdi and Laumond, Jean-Paul},
     journal = {International Journal of Automation and Computing},
     volume = {14},
     number = {5},
     pages = {542--551},
     year = {2017},
     publisher = {Springer},
     url = {https://hal.science/hal-01377361},
   }

3. Learning feasibility constraints for multi-contact locomotion of legged robots

   Justin Carpentier, Rohan Budhiraja, and Nicolas Mansard

   In Robotics: Science and Systems, May 2017

   HAL Bib PDF

   @inproceedings{carpentier2017learning,
     title = {Learning feasibility constraints for multi-contact locomotion of legged robots},
     author = {Carpentier, Justin and Budhiraja, Rohan and Mansard, Nicolas},
     booktitle = {Robotics: Science and Systems},
     pages = {9p},
     year = {2017},
     url = {https://hal.science/hal-01526200},
   }

4. Computational foundations of anthropomorphic locomotion

   Justin Carpentier

   Université Toulouse 3 Paul Sabatier (UT3 Paul Sabatier), May 2017

   HAL Bib PDF

   @phdthesis{carpentier2017computational,
     title = {Computational foundations of anthropomorphic locomotion},
     author = {Carpentier, Justin},
     year = {2017},
     school = {Universit{\'e} Toulouse 3 Paul Sabatier (UT3 Paul Sabatier)},
     url = {https://hal.science/tel-01841095},
   }

5. Fondements calculatoires de la locomotion anthropomorphe

   Justin Carpentier

   Université Paul Sabatier-Toulouse III, May 2017

   HAL Bib PDF

   @phdthesis{carpentier2017fondements,
     title = {Fondements calculatoires de la locomotion anthropomorphe},
     author = {Carpentier, Justin},
     year = {2017},
     school = {Universit{\'e} Paul Sabatier-Toulouse III},
     url = {https://hal.science/tel-01841095},
   }

6. Multi-contact Locomotion of Legged Robots in Complex Environments–The Loco3D project

   Justin Carpentier, Andrea Del Prete, Steve Tonneau, and 8 more authors

   In RSS Workshop on Challenges in Dynamic Legged Locomotion, May 2017

   HAL Bib PDF

   @inproceedings{carpentier2017multi,
     title = {Multi-contact Locomotion of Legged Robots in Complex Environments--The Loco3D project},
     author = {Carpentier, Justin and Del Prete, Andrea and Tonneau, Steve and Flayols, Thomas and Forget, Florent and Mifsud, Alexis and Giraud, Kevin and Atchuthan, Dinesh and Fernbach, Pierre and Budhiraja, Rohan and others},
     booktitle = {RSS Workshop on Challenges in Dynamic Legged Locomotion},
     _pages = {3p},
     year = {2017},
     url = {https://hal.science/hal-01543060},
   }

7. Actuator design of compliant walkers via optimal control

   Gabriele Buondonno, Justin Carpentier, Guilhem Saurel, and 3 more authors

   In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), May 2017

   HAL Bib PDF

   @inproceedings{buondonno2017actuator,
     title = {Actuator design of compliant walkers via optimal control},
     author = {Buondonno, Gabriele and Carpentier, Justin and Saurel, Guilhem and Mansard, Nicolas and De Luca, Alessandro and Laumond, Jean-Paul},
     booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {705--711},
     year = {2017},
     organization = {IEEE},
     url = {https://hal.science/hal-01483567},
   }

8. The yoyo-man

   Jean–Paul Laumond, Mehdi Benallegue, Justin Carpentier, and 1 more author

   The International Journal of Robotics Research, May 2017

   HAL Bib PDF

   @article{laumond2017yoyo,
     title = {The yoyo-man},
     author = {Laumond, Jean--Paul and Benallegue, Mehdi and Carpentier, Justin and Berthoz, Alain},
     journal = {The International Journal of Robotics Research},
     volume = {36},
     number = {13-14},
     pages = {1508--1520},
     year = {2017},
     publisher = {SAGE Publications Sage UK: London, England},
     url = {https://hal.science/hal-01316032},
   }

2016

1. A versatile and efficient pattern generator for generalized legged locomotion

   Justin Carpentier, Steve Tonneau, Maximilien Naveau, and 2 more authors

   In 2016 IEEE International Conference on Robotics and Automation, May 2016

   HAL Bib PDF

   @inproceedings{carpentier2016versatile,
     title = {A versatile and efficient pattern generator for generalized legged locomotion},
     author = {Carpentier, Justin and Tonneau, Steve and Naveau, Maximilien and Stasse, Olivier and Mansard, Nicolas},
     booktitle = {2016 IEEE International Conference on Robotics and Automation},
     year = {2016},
     url = {https://hal.science/hal-01203507},
   }

2. Center of Mass Estimation for Polyarticulated System in Contact — A Spectral Approach

   Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, and 1 more author

   IEEE Transactions on Robotics, May 2016

   HAL Bib PDF

   @article{carpentier2016center,
     title = {Center of Mass Estimation for Polyarticulated System in Contact — A Spectral Approach},
     author = {Carpentier, Justin and Benallegue, Mehdi and Mansard, Nicolas and Laumond, Jean-Paul},
     journal = {IEEE Transactions on Robotics},
     volume = {32},
     number = {4},
     pages = {810--822},
     year = {2016},
     publisher = {IEEE},
     url = {https://hal.science/hal-01182734},
   }

3. A simulation framework for simultaneous design and control of passivity based walkers

   Guilhem Saurel, Justin Carpentier, Nicolas Mansard, and 1 more author

   In 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), May 2016

   HAL Bib PDF

   @inproceedings{saurel2016simulation,
     title = {A simulation framework for simultaneous design and control of passivity based walkers},
     author = {Saurel, Guilhem and Carpentier, Justin and Mansard, Nicolas and Laumond, Jean-Paul},
     booktitle = {2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
     pages = {104--110},
     year = {2016},
     organization = {IEEE},
     url = {https://hal.science/hal-01360450},
   }

2015

1. Coal: an extension of the Flexible Collision Library

   Jia Pan, Sachin Chitta, Dinesh Manocha, and 5 more authors

   May 2015

   Bib Code

   @misc{coalweb,
     author = {Pan, Jia and Chitta, Sachin and Manocha, Dinesh and Lamiraux, Florent and Mirabel, Joseph and Carpentier, Justin and Montaut, Louis and others},
     title = {Coal: an extension of the Flexible Collision Library},
     howpublished = {https://github.com/coal-library/coal},
     year = {2015},
     url = {https://github.com/coal-library/coal},
   }

2. Pinocchio: fast forward and inverse dynamics for poly-articulated systems

   Justin Carpentier, Florian Valenza, Nicolas Mansard, and 1 more author

   May 2015

   Bib Code

   @misc{pinocchioweb,
     author = {Carpentier, Justin and Valenza, Florian and Mansard, Nicolas and others},
     title = {Pinocchio: fast forward and inverse dynamics for poly-articulated systems},
     howpublished = {https://github.com/stack-of-tasks/pinocchio},
     year = {2015},
     url = {https://github.com/stack-of-tasks/pinocchio},
   }

3. A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system – A complementary filtering approach

   Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, and 1 more author

   In 2015 IEEE-RAS 15th International Conference on Humanoid Robots, May 2015

   HAL Bib PDF

   @inproceedings{carpentier2015kinematics,
     title = {A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system -- A complementary filtering approach},
     author = {Carpentier, Justin and Benallegue, Mehdi and Mansard, Nicolas and Laumond, Jean-Paul},
     booktitle = {2015 IEEE-RAS 15th International Conference on Humanoid Robots},
     pages = {1121--1126},
     year = {2015},
     organization = {IEEE},
     url = {https://hal.science/hal-01175592},
   }

4. An analytical model of rolling contact and its application to the modeling of bipedal locomotion

   Justin Carpentier, Andrea Del Prete, Nicolas Mansard, and 1 more author

   In IMA Conference on Mathematics of Robotics 2015, May 2015

   HAL Bib PDF

   @inproceedings{carpentier2015analytical,
     title = {An analytical model of rolling contact and its application to the modeling of bipedal locomotion},
     author = {Carpentier, Justin and Del Prete, Andrea and Mansard, Nicolas and Laumond, Jean-Paul},
     booktitle = {IMA Conference on Mathematics of Robotics 2015},
     pages = {452--457},
     year = {2015},
     url = {https://hal.science/hal-01182733},
   }

2014

1. METAPOD — Template META-programming applied to dynamics: CoP-CoM trajectories filtering

   Maximilien Naveau, Justin Carpentier, Sébastien Barthelemy, and 2 more authors

   In 2014 IEEE-RAS International Conference on Humanoid Robots, May 2014

   HAL Bib PDF

   @inproceedings{naveau2014metapod,
     title = {{METAPOD — Template META-programming applied to dynamics: CoP-CoM trajectories filtering}},
     author = {Naveau, Maximilien and Carpentier, Justin and Barthelemy, S{\'e}bastien and Stasse, Olivier and Sou{\`e}res, Philippe},
     booktitle = {2014 IEEE-RAS International Conference on Humanoid Robots},
     pages = {401--406},
     year = {2014},
     organization = {IEEE},
     url = {https://hal.science/hal-01122475},
   }