Justin Carpentier

99%
Libre accès
91
Documents
Affiliations actuelles
  • Models of visual object recognition and scene understanding (WILLOW)
  • Département d'informatique - ENS-PSL (DI-ENS)
Contact

Domaines de recherche

Robotique [cs.RO]

Publications

Publications

Image document

Constrained Articulated Body Algorithms for Closed-Loop Mechanisms

Ajay Suresha Sathya , Justin Carpentier
2025
Pré-publication, Document de travail hal-04895583 v1
Image document

On the Conic Complementarity of Planar Contacts

Yann de Mont-Marin , Louis Montaut , Jean Ponce , Martial Hebert , Justin Carpentier
2025
Pré-publication, Document de travail hal-05267202 v1
Image document

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

Quentin Le Lidec , Louis Montaut , Yann de Mont-Marin , Fabian Schramm , Justin Carpentier
2025
Pré-publication, Document de travail hal-04694092 v2
Image document

First-order Sobolev Reinforcement Learning

Fabian Schramm , Nicolas Perrin-Gilbert , Justin Carpentier
2025
Pré-publication, Document de travail hal-05401970 v1
Image document

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

Franki Nguimatsia Tiofack , Théotime Le Hellard , Fabian Schramm , Nicolas Perrin-Gilbert , Justin Carpentier
2025
Pré-publication, Document de travail hal-05400311 v1
Image document

KernelSOS for Global Sampling-Based Optimal Control and Estimation via Semidefinite Programming

Antoine Groudiev , Fabian Schramm , Eloïse Berthier , Justin Carpentier , Frederike Dümbgen
2025
Pré-publication, Document de travail hal-05184030 v1
Image document

Sobolev Diffusion Policy

Théotime Le Hellard , Franki Nguimatsia Tiofack , Quentin Le Lidec , Justin Carpentier
2025
Pré-publication, Document de travail hal-05179357 v1
Image document

Contact-Implicit Inverse Dynamics

Etienne Ménager , Antoine Bambade , Wilson Jallet , Alberto de Marchi , Justin Carpentier
2025
Pré-publication, Document de travail (preprint/prepublication) hal-05201780 v2
Image document

Reference-Free Sampling-Based Model Predictive Control

Fabian Schramm , Pierre Fabre , Nicolas Perrin-Gilbert , Justin Carpentier
2025
Pré-publication, Document de travail hal-05401976 v1
Image document

Optimal Control of Walkers with Parallel Actuation

Ludovic de Matteis , Virgile Batto , Justin Carpentier , Nicolas Mansard
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Oct 2025, Hangzhou, China
Communication dans un congrès hal-04716938 v3
Image document

Differentiable Simulation of Soft Robots with Frictional Contacts

Etienne Ménager , Louis Montaut , Quentin Le Lidec , Justin Carpentier
RoboSoft 2025 - 8th IEEE-RAS International Conference on Soft Robotics, Apr 2025, Lausanne, Switzerland
Communication dans un congrès hal-04916093 v1
Image document

Condensed semi-implicit dynamics for trajectory optimization in soft robotics

Etienne Ménager , Alexandre Bilger , Wilson Jallet , Justin Carpentier , Christian Duriez
IEEE International Conference on Soft Robotics (RoboSoft), IEEE, Apr 2024, San Diego (CA), United States. ⟨10.1109/RoboSoft60065.2024.10521997⟩
Communication dans un congrès hal-04466639 v1
Image document

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

Wilson Jallet , Ewen Dantec , Etienne Arlaud , Nicolas Mansard , Justin Carpentier
Robotics: Science and Systems, Jul 2024, Delft, Netherlands
Communication dans un congrès hal-04575334 v3
Image document

Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective

Bruce Wingo , Ajay Sathya , Stéphane Caron , Seth Hutchinson , Justin Carpentier
RSS 2024 - Robotics: Science and Systems, RSS Foundation, Jul 2024, Delft, Netherlands
Communication dans un congrès hal-04607809 v1
Image document

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

Etienne Moullet , Justin Carpentier , Christine Azevedo Coste , François Bailly
Humanoids 2024 - IEEE-RAS International Conference on Humanoid Robots, IEEE-RAS, Nov 2024, Nancy, France
Communication dans un congrès hal-04706577 v1
Image document

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

Antoine Bambade , Fabian Schramm , Adrien Taylor , Justin Carpentier
ICLR 2024 - The Twelfth International Conference on Learning Representations, May 2024, Vienne, Austria
Communication dans un congrès hal-04133055 v2
Image document

A Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices

Etienne Moullet , Justin Carpentier , Christine Azevedo Coste , François Bailly
ICNR 2024 - International Conference on NeuroRehabilitation, Nov 2024, La Granja, Spain
Communication dans un congrès hal-04706628 v1
Image document

Force Feedback Model-Predictive Control via Online Estimation

Armand Jordana , Sébastien Kleff , Justin Carpentier , Nicolas Mansard , Ludovic Righetti
IEEE International Conference on Robotics and Automation (ICRA 2024), May 2024, Yokohama, Japan. ⟨10.1109/ICRA57147.2024.10611156⟩
Communication dans un congrès hal-04564888 v1
Image document

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

Ewen Louis Dantec , Wilson Jallet , Justin Carpentier
IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France
Communication dans un congrès hal-04647996 v2
Image document

Risk-Sensitive Extended Kalman Filter

Armand Jordana , Avadesh Meduri , Etienne Arlaud , Justin Carpentier , Ludovic Righetti
2024 IEEE International Conference on Robotics and Automation (ICRA), IEEE, May 2024, Yokohama, Japan
Communication dans un congrès hal-04107207 v2
Image document

Learning System Dynamics from Sensory Input under Optimal Control Principles

Oumayma Bounou , Jean Ponce , Justin Carpentier
CDC 2024 Conference on Decision and Control, Dec 2024, Milan, Italy
Communication dans un congrès hal-04661974 v3
Image document

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

Justin Carpentier , Quentin Le Lidec , Louis Montaut
20th edition of the “Robotics: Science and Systems” (RSS) Conference, Jul 2024, Delft, Netherlands
Communication dans un congrès hal-04588906 v1
Image document

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

Etienne Moullet , François Bailly , Justin Carpentier , Christine Azevedo Coste
Congrès annuel de la Société de Biomécanique, Oct 2023, Grenoble, France
Communication dans un congrès hal-04141469 v1
Image document

Leveraging Proximal Optimization for Differentiating Optimal Control Solvers

Oumayma Bounou , Jean Ponce , Justin Carpentier
IEEE 62nd Conference on Decision and Control (CDC), Dec 2023, Singapore, Singapore
Communication dans un congrès hal-03786820 v2
Image document

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

Quentin Le Lidec , Wilson Jallet , Ivan Laptev , Cordelia Schmid , Justin Carpentier
ICRA 2023 - IEEE International Conference on Robotics and Automation, May 2023, London, United Kingdom
Communication dans un congrès hal-03780392 v3
Image document

Differentiable Collision Detection: a Randomized Smoothing Approach

Louis Montaut , Quentin Le Lidec , Antoine Bambade , Vladimír Petrík , Josef Sivic et al.
2023 IEEE International Conference on Robotics and Automation (ICRA), IEEE-RAS, May 2023, London, France
Communication dans un congrès hal-03780482 v3
Image document

Multi-Contact Task and Motion Planning Guided by Video Demonstration

Kateryna Zorina , David Kovar , Florent Lamiraux , Nicolas Mansard , Justin Carpentier et al.
ICRA 2023 - International Conference on Robotics and Automation, IEEE, May 2023, Londres, United Kingdom
Communication dans un congrès hal-03945110 v2
Image document

Collision Detection Accelerated: An Optimization Perspective

Louis Montaut , Quentin Le Lidec , Vladimir Petrik , Josef Sivic , Justin Carpentier
RSS 2022 - Robotics: Science and Systems, Jun 2022, New York, United States
Communication dans un congrès hal-03662157 v1
Image document

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

Yann Labbé , Lucas Manuelli , Arsalan Mousavian , Stephen Tyree , Stan Birchfield et al.
CoRL 2022 - Conference on Robot Learning, Dec 2022, Auckland, New Zealand
Communication dans un congrès hal-03910329 v1
Image document

Infinite-Dimensional Sums-of-Squares for Optimal Control

Eloïse Berthier , Justin Carpentier , Alessandro Rudi , Francis Bach
61st IEEE Conference on Decision and Control, IEEE, Dec 2022, Cancun, Mexico
Communication dans un congrès hal-03377120 v1
Image document

Implicit Differential Dynamic Programming

Wilson Jallet , Nicolas Mansard , Justin Carpentier
International Conference on Robotics and Automation (ICRA 2022), IEEE Robotics and Automation Society, May 2022, Philadelphia, United States. ⟨10.1109/ICRA46639.2022.9811647⟩
Communication dans un congrès hal-03351641 v2
Image document

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

Sébastien Kleff , Justin Carpentier , Nicolas Mansard , Ludovic Righetti
Humanoids 2022 - IEEE-RAS International Conference on Humanoid Robots, Nov 2022, Ginowan, Japan. ⟨10.1109/Humanoids53995.2022.10000208⟩
Communication dans un congrès hal-03758989 v2
Image document

Augmenting differentiable physics with randomized smoothing

Quentin Le Lidec , Louis Montaut , Cordelia Schmid , Ivan Laptev , Justin Carpentier
RSS 2022 - Robotics Science and Systems, Workshop on Differentiable Simulation For Robotics, Jun 2022, New York, United States
Communication dans un congrès hal-03703324 v1
Image document

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

Antoine Bambade , Sarah El-Kazdadi , Adrien Taylor , Justin Carpentier
RSS 2022 - Robotics: Science and Systems, Jun 2022, New York, United States
Communication dans un congrès hal-03683733 v1
Image document

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

Wilson Jallet , Antoine Bambade , Nicolas Mansard , Justin Carpentier
6th Legged Robots Workshop, May 2022, Philadelphia, Pennsylvania, United States
Communication dans un congrès hal-03680510 v2
Image document

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

Wilson Jallet , Antoine Bambade , Nicolas Mansard , Justin Carpentier
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981586⟩
Communication dans un congrès hal-03597630 v5
Image document

Equality Constrained Differential Dynamic Programming

Sarah El Kazdadi , Justin Carpentier , Jean Ponce
ICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xi’an, China
Communication dans un congrès hal-03184203 v2
Image document

Fast and Robust Stability Region Estimation for Nonlinear Dynamical Systems

Eloïse Berthier , Justin Carpentier , Francis Bach
European Control Conference (ECC) 2021, Jun 2021, Rotterdam, Netherlands
Communication dans un congrès hal-02984348 v2
Image document

Proximal and Sparse Resolution of Constrained Dynamic Equations

Justin Carpentier , Rohan Budhiraja , Nicolas Mansard
Robotics: Science and Systems 2021, Jul 2021, Austin / Virtual, United States
Communication dans un congrès hal-03271811 v1
Image document

Learning Obstacle Representations for Neural Motion Planning

Robin Strudel , Ricardo Garcia , Justin Carpentier , Jean-Paul Laumond , Ivan Laptev et al.
CoRL 2020 - Conference on Robot Learning, Nov 2020, Cambridge, MA / Virtual, United States. pp.355-364
Communication dans un congrès hal-02944348 v1
Image document

A hybrid collision model for safety collision control

Thibault Noël , Thomas Flayols , Joseph Mirabel , Justin Carpentier , Nicolas Mansard
IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561730⟩
Communication dans un congrès hal-03000951 v1

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

Yann Labbé , Justin Carpentier , Mathieu Aubry , Josef Sivic
CVPR 2021 - Conference on Computer Vision and Pattern Recognition, Jun 2021, Virtual, France. ⟨10.1109/cvpr46437.2021.00170⟩
Communication dans un congrès hal-03572205 v1
Image document

Differentiable Rendering with Perturbed Optimizers

Quentin Le Lidec , Ivan Laptev , Cordelia Schmid , Justin Carpentier
NeurIPS 2021 - Thirty-fifth Conference on Neural Information Processing Systems, Dec 2021, Sydney / Virtual, Australia
Communication dans un congrès hal-03378451 v1
Image document

Optimal Estimation of the Centroidal Dynamics of Legged Robots

François Bailly , Justin Carpentier , Philippe Souères
IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi’an, China. ⟨10.1109/ICRA48506.2021.9561993⟩
Communication dans un congrès hal-03193940 v1
Image document

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

Alejandro Astudillo , Justin Carpentier , Joris Gillis , Goele Pipeleers , Jan Swevers
MECC 2021 - 1st IFAC Modeling, Estimation and Control Conference, Oct 2021, Austin, United States
Communication dans un congrès hal-03541487 v1
Image document

Online Learning and Control of Dynamical Systems from Sensory Input

Oumayma Bounou , Jean Ponce , Justin Carpentier
NeurIPS 2021 - Thirty-fifth Conference on Neural Information Processing Systems Year, Dec 2021, Sydney / Virtual, Australia
Communication dans un congrès hal-03405911 v2

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

Rohan Budhiraja , Amit Parag , Ewen Dantec , Justin Carpentier , Carlos Mastalli et al.
Journées Nationales de la Robotique Humanoïde, May 2020, Paris (virtual), France
Communication dans un congrès hal-02898916 v1
Image document

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

Carlos Mastalli , Rohan Budhiraja , Wolfgang Merkt , Guilhem Saurel , Bilal Hammoud et al.
ICRA 2020 IEEE International Conference on Robotics and Automation, May 2020, Paris / Virtual, France. ⟨10.1109/ICRA40945.2020.9196673⟩
Communication dans un congrès hal-02294059 v1

CosyPose: Consistent multi-view multi-object 6D pose estimation

Yann Labbé , Justin Carpentier , Mathieu Aubry , Josef Sivic
European Conference on Computer Vision, Aug 2020, Glasgow, United Kingdom
Communication dans un congrès hal-02950800 v1
Image document

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

Rohan Budhiraja , Justin Carpentier , Nicolas Mansard
ICRA 2019 - IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada
Communication dans un congrès hal-01875031 v3
Image document

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

Justin Carpentier , Guilhem Saurel , Gabriele Buondonno , Joseph Mirabel , Florent Lamiraux et al.
SII 2019 - International Symposium on System Integrations, Jan 2019, Paris, France
Communication dans un congrès hal-01866228 v2

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

Zongmian Li , Jiri Sedlar , Justin Carpentier , Ivan Laptev , Nicolas Mansard et al.
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2019), Jun 2019, Long Beach, United States. pp.8632-8641, ⟨10.1109/CVPR.2019.00884⟩
Communication dans un congrès hal-03411657 v1
Image document

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

Rohan Budhiraja , Justin Carpentier , Carlos Mastalli , Nicolas Mansard
IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), Nov 2018, Beijing, China. ⟨10.1109/HUMANOIDS.2018.8624925⟩
Communication dans un congrès hal-01851596 v2
Image document

Analytical Derivatives of Rigid Body Dynamics Algorithms

Justin Carpentier , Nicolas Mansard
Robotics: Science and Systems (RSS 2018), Jun 2018, Pittsburgh, United States
Communication dans un congrès hal-01790971 v2
Image document

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

François Bailly , Justin Carpentier , Bertrand Pinet , Philippe Souères , Bruno Watier
7th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2018, Aug 2018, ENSCHEDE, Netherlands
Communication dans un congrès hal-01569252 v2
Image document

TALOS: A new humanoid research platform targeted for industrial applications

Olivier Stasse , Thomas Flayols , Rohan Budhiraja , Kevin Giraud-Esclasse , Justin Carpentier et al.
International Conference on Humanoid Robotics, ICHR, Birmingham 2017, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/HUMANOIDS.2017.8246947⟩
Communication dans un congrès hal-01485519 v2
Image document

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

Justin Carpentier , Andrea del Prete , Steve Tonneau , Thomas Flayols , Florent Forget et al.
RSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p
Communication dans un congrès hal-01543060 v1
Image document

Actuator Design of Compliant Walkers via Optimal Control

Gabriele Buondonno , Justin Carpentier , Guilhem Saurel , Nicolas Mansard , Alessandro de Luca et al.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Sep 2017, Vancouver, Canada. 7p
Communication dans un congrès hal-01483567 v2
Image document

Learning Feasibility Constraints for Multi-contact Locomotion of Legged Robots

Justin Carpentier , Rohan Budhiraja , Nicolas Mansard
Robotics: Science and Systems, Jul 2017, Cambridge, MA, United States. 9p
Communication dans un congrès hal-01526200 v1
Image document

A Simulation Framework for Simultaneous Design and Control of Passivity Based Walkers

Guilhem Saurel , Justin Carpentier , Nicolas Mansard , Jean-Paul Laumond
2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots SIMPAR, Dec 2016, San Francisco, United States. ⟨10.1109/SIMPAR.2016.7862383⟩
Communication dans un congrès hal-01360450 v2
Image document

A Versatile and Efficient Pattern Generator for Generalized Legged Locomotion

Justin Carpentier , Steve Tonneau , Maximilien Naveau , Olivier Stasse , Nicolas Mansard
IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden, May 2016, Stockholm, Sweden
Communication dans un congrès hal-01203507 v2
Image document

The Yoyo-Man

Jean-Paul Laumond , Mehdi Benallegue , Justin Carpentier , Alain Berthoz
International Symposium on Robotics Research (ISRR), Sep 2015, Sestri Levante, Italy
Communication dans un congrès hal-01175591 v1
Image document

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

Justin Carpentier , Mehdi Benallegue , Nicolas Mansard , Jean-Paul Laumond
2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea. pp.1121 - 1126, ⟨10.1109/HUMANOIDS.2015.7363493⟩
Communication dans un congrès hal-01175592 v3
Image document

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

Justin Carpentier , Andrea del Prete , Nicolas Mansard , Jean-Paul Laumond
IMA Conference on Mathematics of Robotics, Sep 2015, Oxford, United Kingdom
Communication dans un congrès hal-01182733 v1
Image document

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

Maximilien Naveau , Justin Carpentier , Sébastien Barthelemy , Olivier Stasse , Philippe Souères
International Conference on Humanoid Robotics, Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041391⟩
Communication dans un congrès hal-01122475 v1
Image document

PROXDDP: Proximal Constrained Trajectory Optimization

Wilson Jallet , Antoine Bambade , Etienne Arlaud , Sarah El-Kazdadi , Nicolas Mansard et al.
IEEE Transactions on Robotics, 2025, 41, pp.2605 - 2624. ⟨10.1109/TRO.2025.3554437⟩
Article dans une revue hal-04332348 v3
Image document

Infinite-Horizon Value Function Approximation for Model Predictive Control

Armand Jordana , Sébastien Kleff , Arthur Haffemayer , Joaquim Ortiz-Haro , Justin Carpentier et al.
IEEE Robotics and Automation Letters, 2025, ⟨10.48550/arXiv.2502.06760⟩
Article dans une revue hal-04948407 v1
Image document

PROXQP: an Efficient and Versatile Quadratic Programming Solver for Real-Time Robotics Applications and Beyond

Antoine Bambade , Fabian Schramm , Sarah El Kazdadi , Stéphane Caron , Adrien Taylor et al.
IEEE Transactions on Robotics, 2025
Article dans une revue hal-04198663 v4
Image document

Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control

Armand Jordana , Sébastien Kleff , Avadesh Meduri , Justin Carpentier , Nicolas Mansard et al.
IEEE Transactions on Robotics, 2025
Article dans une revue hal-04330251 v3
Image document

Reconciling RaiSim with the Maximum Dissipation Principle

Quentin Le Lidec , Justin Carpentier
IEEE Transactions on Robotics, In press, ⟨10.1109/TRO.2024.3430711⟩
Article dans une revue hal-04438175 v2
Image document

Constrained Articulated Body Dynamics Algorithms

Ajay Sathya , Justin Carpentier
IEEE Transactions on Robotics, 2024
Article dans une revue hal-04443056 v2
Image document

GJK++: Leveraging Acceleration Methods for Faster Collision Detection

Louis Montaut , Quentin Le Lidec , Vladimír Petrík , Josef Sivic , Justin Carpentier
IEEE Transactions on Robotics, In press, ⟨10.1109/TRO.2024.3386370⟩
Article dans une revue hal-04070039 v3
Image document

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

Gabriele Fadini , Shivesh Kumar , Rohit Kumar , Thomas Flayols , Andrea del Prete et al.
Robotica, 2024, 42 (6), pp.2004-2025. ⟨10.1017/S0263574724000730⟩
Article dans une revue hal-04162737 v1
Image document

Contact Models in Robotics: a Comparative Analysis

Quentin Le Lidec , Wilson Jallet , Louis Montaut , Ivan Laptev , Cordelia Schmid et al.
IEEE Transactions on Robotics, 2024, 40, pp.3716 - 3733. ⟨10.1109/TRO.2024.3434208⟩
Article dans une revue hal-04067291 v3
Image document

Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems

Quentin Le Lidec , Fabian Schramm , Louis Montaut , Cordelia Schmid , Ivan Laptev et al.
Nonlinear Analysis: Hybrid Systems, 2024, 52, pp.101468. ⟨10.1016/j.nahs.2024.101468⟩
Article dans une revue hal-03480419 v4
Image document

Learning to Manipulate Tools by Aligning Simulation to Video Demonstration

Kateryna Zorina , Justin Carpentier , Josef Sivic , Vladimír Petrík
IEEE Robotics and Automation Letters, In press, ⟨10.48550/arXiv.2111.03088⟩
Article dans une revue hal-03478117 v1

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

Zongmian Li , Jiri Sedlar , Justin Carpentier , Ivan Laptev , Nicolas Mansard et al.
International Journal of Computer Vision, 2022, 130 (2), pp.363-383. ⟨10.1007/s11263-021-01540-1⟩
Article dans une revue hal-03420419 v1
Image document

Stagewise Newton Method for Dynamic Game Control with Imperfect State Observation

Armand Jordana , Bilal Hammoud , Justin Carpentier , Ludovic Righetti
IEEE Control Systems Letters, 2022, ⟨10.1109/LCSYS.2022.3184657⟩
Article dans une revue hal-03705557 v1
Image document

Recent Progress in Legged Robots Locomotion Control

Justin Carpentier , Pierre-Brice Wieber
Current Robotics Reports, 2021, 2, pp.231-238. ⟨10.1007/s43154-021-00059-0⟩
Article dans une revue hal-03193886 v1
Image document

Differentiable simulation for physical system identification

Quentin Le Lidec , Igor Kalevatykh , Ivan Laptev , Cordelia Schmid , Justin Carpentier
IEEE Robotics and Automation Letters, 2021, 6 (2), pp.3413-3420. ⟨10.1109/LRA.2021.3062323⟩
Article dans une revue hal-03025616 v3
Image document

Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning

Yann Labbé , Sergey Zagoruyko , Igor Kalevatykh , Ivan Laptev , Justin Carpentier et al.
IEEE Robotics and Automation Letters, 2020, 5 (2), pp.3715-3722. ⟨10.1109/LRA.2020.2980984⟩
Article dans une revue hal-02108930 v1
Image document

C-CROC: Continuous and Convex Resolution of Centroidal dynamic trajectories for legged robots in multi-contact scenarios

Pierre Fernbach , Steve Tonneau , Olivier Stasse , Justin Carpentier , Michel Taïx
IEEE Transactions on Robotics, 2020, 36 (3), pp.676-691. ⟨10.1109/TRO.2020.2964787⟩
Article dans une revue hal-01894869 v4
Image document

Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion — A recursive approach

François Bailly , Justin Carpentier , Mehdi Benallegue , Bruno Watier , Philippe Souères
IEEE Robotics and Automation Letters, 2019, 4 (4), pp.4155-4162. ⟨10.1109/LRA.2019.2931200⟩
Article dans une revue hal-02058890 v2
Image document

Multi-contact Locomotion of Legged Robots

Justin Carpentier , Nicolas Mansard
IEEE Transactions on Robotics, 2018, 34 (6), pp.1441-1460. ⟨10.1109/TRO.2018.2862902⟩
Article dans une revue hal-01859108 v1
Image document

On the centre of mass motion in human walking

Justin Carpentier , Mehdi Benallegue , Jean-Paul Laumond
International Journal of Automation and Computing, 2017, 14 (5), pp.542-551
Article dans une revue hal-01377361 v2
Image document

The Yoyo-Man

Jean-Paul Laumond , Mehdi Benallegue , Justin Carpentier , Alain Berthoz
The International Journal of Robotics Research, 2017, 36 (13-14), pp.1508 - 1520. ⟨10.1177/0278364917693292⟩
Article dans une revue hal-01316032 v3
Image document

Center of Mass Estimation for Polyarticulated System in Contact - A Spectral Approach

Justin Carpentier , Mehdi Benallegue , Nicolas Mansard , Jean-Paul Laumond
IEEE Transactions on Robotics, 2016, 32 (4), pp.810-822. ⟨10.1109/TRO.2016.2572680⟩
Article dans une revue hal-01182734 v3
Image document

Fondements calculatoires de la locomotion anthropomorphe

Justin Carpentier
Robotics [cs.RO]. Université Paul Sabatier - Toulouse III, 2017. English. ⟨NNT : 2017TOU30376⟩
Thèse tel-01841095 v2