Publications
List of my publications. See also my Google Scholar
2023
- Differentiable collision detection: a randomized smoothing approachIn 2023 IEEE International Conference on Robotics and Automation (ICRA) 2023
- Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot controlIn 2023 IEEE International Conference on Robotics and Automation (ICRA) 2023
- Multi-Contact Task and Motion Planning Guided by Video DemonstrationIn ICRA 2023-International Conference on Robotics and Automation 2023
- Contact Models in Robotics: a Comparative AnalysisarXiv preprint arXiv:2304.06372 2023
- GJK++: Leveraging Acceleration Methods for Faster Collision Detection2023
- Risk-Sensitive Extended Kalman FilterarXiv preprint arXiv:2305.11573 2023
- QPLayer: efficient differentiation of convex quadratic optimization2023
- Vision-based interface for grasping intention detection and grip selection: towards intuitive upper-limb assistive devicesarXiv preprint arXiv:2306.15280 2023
2022
- Implicit differential dynamic programmingIn 2022 International Conference on Robotics and Automation (ICRA) 2022
- Infinite-dimensional sums-of-squares for optimal controlIn 2022 IEEE 61st Conference on Decision and Control (CDC) 2022
- Estimating 3D Motion and Forces of Human–Object Interactions from Internet VideosInternational Journal of Computer Vision 2022
- Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical SystemsarXiv preprint arXiv:2203.03986 2022
- Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approachIn 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022
- Exponential integration for efficient and accurate multibody simulation with stiff viscoelastic contactsMultibody System Dynamics 2022
- PROX-QP: Yet another Quadratic Programming Solver for Robotics and beyondIn RSS 2022-Robotics: Science and Systems 2022
- Collision Detection Accelerated: An Optimization PerspectiveIn RSS 2022-Robotics: Science and Systems 2022
- ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyondIn 6th Legged Robots Workshop 2022
- Stagewise Newton Method for Dynamic Game Control with Imperfect State ObservationIEEE Control Systems Letters 2022
- Augmenting differentiable physics with randomized smoothingarXiv preprint arXiv:2206.11884 2022
- Kernel sums of squares for optimization and beyonddimension 2022
- Leveraging Proximal Optimization for Differentiating Optimal Control Solvers2022
- MegaPose: 6D Pose Estimation of Novel Objects via Render & CompareIn 6th Annual Conference on Robot Learning 2022
- On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with TalosIn 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) 2022
- Learning System Dynamics from Sensory Input under Optimal Control Principles2022
2021
- Learning obstacle representations for neural motion planningIn Conference on Robot Learning 2021
- Fast and Robust Stability Region Estimation for Nonlinear Dynamical SystemsIn 2021 European Control Conference (ECC) 2021
- A hybrid collision model for safety collision controlIn 2021 IEEE International Conference on Robotics and Automation (ICRA) 2021
- Differentiable simulation for physical system identification2021
- Fast and accurate multi-body simulation with stiff viscoelastic contactsarXiv preprint arXiv:2101.06846 2021
- Fast model predictive control of robotic manipulators - Analytical derivativesIn Flanders Make Scientific Conference 2021, Location: Online 2021
- Computational details for:" Optimal Estimation of the Centroidal Dynamics of Legged Robots"2021
- Equality constrained differential dynamic programmingIn 2021 IEEE International Conference on Robotics and Automation (ICRA) 2021
- Optimal estimation of the centroidal dynamics of legged robotsIn 2021 IEEE International Conference on Robotics and Automation (ICRA) 2021
- Recent progress in legged robots locomotion controlCurrent Robotics Reports 2021
- Single-view robot pose and joint angle estimation via render & compareIn Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2021
- Learning Dynamical Systems from Noisy Sensor Measurements using Multiple ShootingarXiv preprint arXiv:2106.11712 2021
- Efficient, Generic and Robust Resolution of Constrained Dynamics2021
- Proximal and Sparse Resolution of Constrained Dynamic EquationsIn Robotics: Science and Systems 2021 2021
- Differentiable rendering with perturbed optimizersAdvances in Neural Information Processing Systems 2021
- Learning to Manipulate Tools by Aligning Simulation to Video DemonstrationIEEE Robotics and Automation Letters 2021
- Online Learning and Control of Complex Dynamical Systems from Sensory InputAdvances in Neural Information Processing Systems 2021
- Mixed Use of Analytical Derivatives and Algorithmic Differentiation for NMPC of Robot ManipulatorsIFAC-PapersOnLine 2021
- Efficient and Accurate Multi-Body Simulation with Stiff Viscoelastic ContactsarXiv preprint arXiv:2101.06846 2021
- Mixed Use of Analytical Derivatives and Algorithmic Differentiation for NMPC of Robot ManipulatorsIn Modeling, Estimation and Control Conference MECC 2021 2021
2020
- C-CROC: Continuous and Convex Resolution of Centroidal dynamic trajectories for legged robots in multi-contact scenarios2020
- Crocoddyl: An efficient and versatile framework for multi-contact optimal controlIn 2020 IEEE International Conference on Robotics and Automation (ICRA) 2020
- Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement PlanningIEEE Robotics and Automation Letters 2020
- Recursive Filtering of Kinetic and Kinematic Data for Center of Mass and Angular Momentum Derivative EstimationIn 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 2020
- Crocoddyl: Fast computation, Efficient solvers, Receding horizon and LearningIn Journées Nationales de la Robotique Humanoı̈de 2020
- Cosypose: Consistent multi-view multi-object 6d pose estimationIn Computer Vision–ECCV 2020: 16th European Conference, Glasgow, UK, August 23–28, 2020, Proceedings, Part XVII 16 2020
2019
- The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives2019
- Estimating the center of mass and the angular momentum derivative for legged locomotion—a recursive approachIEEE Robotics and Automation Letters 2019
- Estimating 3d motion and forces of person-object interactions from monocular videoIn Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2019
- Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged RobotsIn ICRA 2019-IEEE International Conference on Robotics and Automation 2019
- Recursive estimation of the human body’s center of mass and angular momentum derivativeIn CMBBE 16th Internat. Symposium on Computer Methods in Biomechanics and Biomedical Engineering 2019
2018
- Multi-contact Locomotion of Legged RobotsIEEE Transactions on Robotics 2018
- A mechanical descriptor of human locomotion and its application to multi-contact walking in humanoidsIn 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2018 2018
- Analytical derivatives of rigid body dynamics algorithmsIn Robotics: Science and Systems (RSS 2018) 2018
- Differential dynamic programming for multi-phase rigid contact dynamicsIn 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) 2018
- Analytical inverse of the joint space inertia matrix2018
2017
- TALOS: A new humanoid research platform targeted for industrial applicationsIn IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) 2017
- On the centre of mass motion in human walking2017
- Learning feasibility constraints for multi-contact locomotion of legged robotsIn Robotics: Science and Systems 2017
- Computational foundations of anthropomorphic locomotion2017
- Fondements calculatoires de la locomotion anthropomorphe2017
- Multi-contact Locomotion of Legged Robots in Complex Environments–The Loco3D projectIn RSS Workshop on Challenges in Dynamic Legged Locomotion 2017
- Optimal Design of Compliant Walkers2017
- Actuator design of compliant walkers via optimal controlIn 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017
- The yoyo-manThe International Journal of Robotics Research 2017
2016
- A versatile and efficient pattern generator for generalized legged locomotionIn 2016 IEEE International Conference on Robotics and Automation 2016
- Center of Mass Estimation for Polyarticulated System in Contact — A Spectral ApproachIEEE Transactions on Robotics 2016
- A simulation framework for simultaneous design and control of passivity based walkersIn 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) 2016
2015
- A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system – A complementary filtering approachIn Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on 2015
- An analytical model of rolling contact and its application to the modeling of bipedal locomotionIn IMA Conference on Mathematics of Robotics 2015 2015
- Pinocchio: fast forward and inverse dynamics for poly-articulated systems2015