Publications

List of my publications.

See also my Google Scholar profile.

2025

  1. End-to-End and Highly-Efficient Differentiable Simulation for Robotics
    Quentin Le Lidec, Louis Montaut, Yann Mont-Marin, and 1 more author
    2025
  2. ProxDDP: Proximal constrained trajectory optimization
    Wilson Jallet, Antoine Bambade, Etienne Arlaud, and 3 more authors
    IEEE Transactions on Robotics, 2025
  3. Stagewise Implementations of Sequential Quadratic Programming for Model-Predictive Control
    Armand Jordana, Sébastien Kleff, Avadesh Meduri, and 3 more authors
    IEEE Transactions on Robotics, 2025
  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), 2025
  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, 2025
  6. Constrained Articulated Body Algorithms for Closed-Loop Mechanisms
    Ajay Suresha Sathya, and Justin Carpentier
    2025
    IEEE Transactions on Robotics
  7. Optimal Control of Walkers with Parallel Actuation
    Ludovic Matteis, Virgile Batto, Justin Carpentier, and 1 more author
    2025
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  8. Contact-Implicit Inverse Dynamics
    Etienne Menager, Antoine Bambade, Wilson Jallet, and 2 more authors
    2025
    Under review at IEEE Transactions on Robotics
  9. KernelSOS for Global Sampling-Based Optimal Control and Estimation via Semidefinite Programming
    Antoine Groudiev, Fabian Schramm, Éloïse Berthier, and 2 more authors
    2025
    Under review at IEEE Robotics and Automation Letters
  10. Sobolev Diffusion Policy
    Théotime Le Hellard, Franki Nguimatsia Tiofack, Quentin Le Lidec, and 1 more author
    2025
    Under review at IEEE Robotics and Automation Letters
  11. Augmented Lagrangian methods for infeasible convex optimization problems and diverging proximal-point algorithms
    Roland Andrews, Justin Carpentier, and Adrien Taylor
    2025
    Under review

2024

  1. Constrained articulated body dynamics algorithms
    Ajay Suresha Sathya, and Justin Carpentier
    IEEE Transactions on Robotics, 2024
  2. Contact models in robotics: a comparative analysis
    Quentin Le Lidec, Wilson Jallet, Louis Montaut, and 3 more authors
    IEEE Transactions on Robotics, 2024
  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, 2024
  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, 2024
  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, 2024
  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), 2024
  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, 2024
  8. Co-designing versatile quadruped robots for dynamic and energy-efficient motions
    Gabriele Fadini, Shivesh Kumar, Rohit Kumar, and 4 more authors
    Robotica, 2024
  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), 2024
  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), 2024
  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), 2024
  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), 2024
  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, 2024
  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), 2024
  15. GJK++: Leveraging Acceleration Methods for Faster Collision Detection
    Louis Montaut, Quentin Le Lidec, Vladimir Petrik, and 2 more authors
    IEEE Transactions on Robotics, 2024
  16. Reconciling RaiSim With the Maximum Dissipation Principle
    Quentin Le Lidec, and Justin Carpentier
    IEEE Transactions on Robotics, 2024
  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, 2024
  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), 2024

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), 2023
  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), 2023
  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, 2023
  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
    2023
  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), 2023
  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
    2023
    Under review at IEEE Transactions on Robotics

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
  2. Implicit Differential Dynamic Programming
    Wilson Jallet, Nicolas Mansard, and Justin Carpentier
    In 2022 International Conference on Robotics and Automation (ICRA), May 2022
    DOI
  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
  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
  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
  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
  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
  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
  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

2021

  1. Proximal and Sparse Resolution of Constrained Dynamic Equations
    Justin Carpentier, Rohan Budhiraja, and Nicolas Mansard
    In Robotics: Science and Systems 2021, May 2021
  2. Learning obstacle representations for neural motion planning
    Robin Strudel, Ricardo Garcia Pinel, Justin Carpentier, and 3 more authors
    In Conference on Robot Learning, May 2021
  3. Fast and Robust Stability Region Estimation for Nonlinear Dynamical Systems
    Eloise Berthier, Justin Carpentier , and Francis Bach
    In 2021 European Control Conference (ECC), May 2021
  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), May 2021
  5. Differentiable simulation for physical system identification
    Quentin Le Lidec, Igor Kalevatykh, Ivan Laptev, and 2 more authors
    IEEE Robotics and Automation Letters, May 2021
  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, May 2021
  7. Computational details for:" Optimal Estimation of the Centroidal Dynamics of Legged Robots"
    François Bailly, Justin Carpentier, and Philippe Souères
    May 2021
  8. Equality constrained differential dynamic programming
    Sarah El Kazdadi, Justin Carpentier, and Jean Ponce
    In 2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021
  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), May 2021
  10. Recent progress in legged robots locomotion control
    Justin Carpentier, and Pierre-Brice Wieber
    Current Robotics Reports, May 2021
  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, May 2021
  12. Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting
    Armand Jordana, Justin Carpentier, and Ludovic Righetti
    May 2021
  13. Efficient, Generic and Robust Resolution of Constrained Dynamics
    Justin Carpentier, Rohan Budhiraja, and Nicolas Mansard
    In Journees Nationales de la Robotique Humanoide, May 2021
  14. Differentiable rendering with perturbed optimizers
    Quentin Le Lidec, Ivan Laptev, Cordelia Schmid, and 1 more author
    Advances in Neural Information Processing Systems, May 2021
  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, May 2021
  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, May 2021
  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, May 2021
  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, May 2021

2020

  1. Crocoddyl: An efficient and versatile framework for multi-contact optimal control
    Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, and 5 more authors
    In 2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020
  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, May 2020
  3. Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning
    Yann Labbe, Sergey Zagoruyko, Igor Kalevatykh, and 4 more authors
    IEEE Robotics and Automation Letters, May 2020
  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, May 2020
  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, May 2020
  6. Cosypose: Consistent multi-view multi-object 6d pose estimation
    Yann Labbe, 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, May 2020

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), May 2019
  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, May 2019
  3. Estimating 3d motion and forces of person-object interactions from monocular video
    Zongmian Li, Jiri Sedlar, Justin Carpentier, and 3 more authors
    In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, May 2019
  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, May 2019

2018

  1. Analytical derivatives of rigid body dynamics algorithms
    Justin Carpentier, and Nicolas Mansard
    In Robotics: Science and Systems (RSS 2018), May 2018
  2. Multi-contact Locomotion of Legged Robots
    Justin Carpentier, and Nicolas Mansard
    IEEE Transactions on Robotics, May 2018
  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, May 2018
  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), May 2018

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
  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
  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
  4. Computational foundations of anthropomorphic locomotion
    Justin Carpentier
    Université Toulouse 3 Paul Sabatier (UT3 Paul Sabatier), May 2017
  5. Fondements calculatoires de la locomotion anthropomorphe
    Justin Carpentier
    Université Paul Sabatier-Toulouse III, May 2017
  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
  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
  8. The yoyo-man
    Jean–Paul Laumond, Mehdi Benallegue, Justin Carpentier, and 1 more author
    The International Journal of Robotics Research, May 2017

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
  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
  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

2015

  1. Coal: an extension of the Flexible Collision Library
    Jia Pan, Sachin Chitta, Dinesh Manocha, and 5 more authors
    May 2015
  2. Pinocchio: fast forward and inverse dynamics for poly-articulated systems
    Justin Carpentier, Florian Valenza, Nicolas Mansard, and 1 more author
    May 2015
  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
  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

2014