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)
Identifiants chercheurs
Domaines de recherche
Robotique [cs.RO]
Publications
Publications
|
|
Optimal Control of Walkers with Parallel Actuation2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Oct 2025, Hangzhou, China
Communication dans un congrès
hal-04716938
v3
|
|
|
Differentiable Simulation of Soft Robots with Frictional ContactsRoboSoft 2025 - 8th IEEE-RAS International Conference on Soft Robotics, Apr 2025, Lausanne, Switzerland
Communication dans un congrès
hal-04916093
v1
|
|
|
Condensed semi-implicit dynamics for trajectory optimization in soft roboticsIEEE 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
|
|
|
Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPCRobotics: Science and Systems, Jul 2024, Delft, Netherlands
Communication dans un congrès
hal-04575334
v3
|
|
|
Linear-time Differential Inverse Kinematics: an Augmented Lagrangian PerspectiveRSS 2024 - Robotics: Science and Systems, RSS Foundation, Jul 2024, Delft, Netherlands
Communication dans un congrès
hal-04607809
v1
|
|
|
i-GRIP, a Grasping Movement Intention Estimator for Intuitive Control of Assistive DevicesHumanoids 2024 - IEEE-RAS International Conference on Humanoid Robots, IEEE-RAS, Nov 2024, Nancy, France
Communication dans un congrès
hal-04706577
v1
|
|
|
Leveraging augmented-Lagrangian techniques for differentiating over infeasible quadratic programs in machine learningICLR 2024 - The Twelfth International Conference on Learning Representations, May 2024, Vienne, Austria
Communication dans un congrès
hal-04133055
v2
|
|
|
A Grasping Movement Intention Estimator for Intuitive Control of Assistive DevicesICNR 2024 - International Conference on NeuroRehabilitation, Nov 2024, La Granja, Spain
Communication dans un congrès
hal-04706628
v1
|
|
|
Force Feedback Model-Predictive Control via Online EstimationIEEE International Conference on Robotics and Automation (ICRA 2024), May 2024, Yokohama, Japan. ⟨10.1109/ICRA57147.2024.10611156⟩
Communication dans un congrès
hal-04564888
v1
|
|
|
From centroidal to whole-body models for legged locomotion: a comparative analysisIEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France
Communication dans un congrès
hal-04647996
v2
|
|
|
Risk-Sensitive Extended Kalman Filter2024 IEEE International Conference on Robotics and Automation (ICRA), IEEE, May 2024, Yokohama, Japan
Communication dans un congrès
hal-04107207
v2
|
|
|
Learning System Dynamics from Sensory Input under Optimal Control PrinciplesCDC 2024 Conference on Decision and Control, Dec 2024, Milan, Italy
Communication dans un congrès
hal-04661974
v3
|
|
|
From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach20th edition of the “Robotics: Science and Systems” (RSS) Conference, Jul 2024, Delft, Netherlands
Communication dans un congrès
hal-04588906
v1
|
|
|
Vision-based interface for grasping intention detection and grip selection : towards intuitive upper-limb assistive devicesCongrès annuel de la Société de Biomécanique, Oct 2023, Grenoble, France
Communication dans un congrès
hal-04141469
v1
|
|
|
Leveraging Proximal Optimization for Differentiating Optimal Control SolversIEEE 62nd Conference on Decision and Control (CDC), Dec 2023, Singapore, Singapore
Communication dans un congrès
hal-03786820
v2
|
|
|
Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot controlICRA 2023 - IEEE International Conference on Robotics and Automation, May 2023, London, United Kingdom
Communication dans un congrès
hal-03780392
v3
|
|
|
Differentiable Collision Detection: a Randomized Smoothing Approach2023 IEEE International Conference on Robotics and Automation (ICRA), IEEE-RAS, May 2023, London, France
Communication dans un congrès
hal-03780482
v3
|
|
|
Multi-Contact Task and Motion Planning Guided by Video DemonstrationICRA 2023 - International Conference on Robotics and Automation, IEEE, May 2023, Londres, United Kingdom
Communication dans un congrès
hal-03945110
v2
|
|
|
Collision Detection Accelerated: An Optimization PerspectiveRSS 2022 - Robotics: Science and Systems, Jun 2022, New York, United States
Communication dans un congrès
hal-03662157
v1
|
|
|
MegaPose: 6D Pose Estimation of Novel Objects via Render & CompareCoRL 2022 - Conference on Robot Learning, Dec 2022, Auckland, New Zealand
Communication dans un congrès
hal-03910329
v1
|
|
|
Infinite-Dimensional Sums-of-Squares for Optimal Control61st IEEE Conference on Decision and Control, IEEE, Dec 2022, Cancun, Mexico
Communication dans un congrès
hal-03377120
v1
|
|
|
Implicit Differential Dynamic ProgrammingInternational 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
|
|
|
On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with TalosHumanoids 2022 - IEEE-RAS International Conference on Humanoid Robots, Nov 2022, Ginowan, Japan. ⟨10.1109/Humanoids53995.2022.10000208⟩
Communication dans un congrès
hal-03758989
v2
|
|
|
Augmenting differentiable physics with randomized smoothingRSS 2022 - Robotics Science and Systems, Workshop on Differentiable Simulation For Robotics, Jun 2022, New York, United States
Communication dans un congrès
hal-03703324
v1
|
|
|
PROX-QP: Yet another Quadratic Programming Solver for Robotics and beyondRSS 2022 - Robotics: Science and Systems, Jun 2022, New York, United States
Communication dans un congrès
hal-03683733
v1
|
|
|
ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond6th Legged Robots Workshop, May 2022, Philadelphia, Pennsylvania, United States
Communication dans un congrès
hal-03680510
v2
|
|
|
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach2022 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
|
|
|
Equality Constrained Differential Dynamic ProgrammingICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xi’an, China
Communication dans un congrès
hal-03184203
v2
|
|
|
Fast and Robust Stability Region Estimation for Nonlinear Dynamical SystemsEuropean Control Conference (ECC) 2021, Jun 2021, Rotterdam, Netherlands
Communication dans un congrès
hal-02984348
v2
|
|
|
Proximal and Sparse Resolution of Constrained Dynamic EquationsRobotics: Science and Systems 2021, Jul 2021, Austin / Virtual, United States
Communication dans un congrès
hal-03271811
v1
|
|
|
Learning Obstacle Representations for Neural Motion PlanningCoRL 2020 - Conference on Robot Learning, Nov 2020, Cambridge, MA / Virtual, United States. pp.355-364
Communication dans un congrès
hal-02944348
v1
|
|
|
A hybrid collision model for safety collision controlIEEE 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 & compareCVPR 2021 - Conference on Computer Vision and Pattern Recognition, Jun 2021, Virtual, France. ⟨10.1109/cvpr46437.2021.00170⟩
Communication dans un congrès
hal-03572205
v1
|
|
|
|
Differentiable Rendering with Perturbed OptimizersNeurIPS 2021 - Thirty-fifth Conference on Neural Information Processing Systems, Dec 2021, Sydney / Virtual, Australia
Communication dans un congrès
hal-03378451
v1
|
|
|
Optimal Estimation of the Centroidal Dynamics of Legged RobotsIEEE 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
|
|
|
Mixed Use of Analytical Derivatives and Algorithmic Differentiation for NMPC of Robot ManipulatorsMECC 2021 - 1st IFAC Modeling, Estimation and Control Conference, Oct 2021, Austin, United States
Communication dans un congrès
hal-03541487
v1
|
|
|
Online Learning and Control of Dynamical Systems from Sensory InputNeurIPS 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 LearningJournées Nationales de la Robotique Humanoïde, May 2020, Paris (virtual), France
Communication dans un congrès
hal-02898916
v1
|
|
|
|
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal ControlICRA 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 estimationEuropean Conference on Computer Vision, Aug 2020, Glasgow, United Kingdom
Communication dans un congrès
hal-02950800
v1
|
|
|
Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged RobotsICRA 2019 - IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada
Communication dans un congrès
hal-01875031
v3
|
|
|
The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivativesSII 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 VideoIEEE/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
|
|
|
Differential Dynamic Programming for Multi-Phase Rigid Contact DynamicsIEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), Nov 2018, Beijing, China. ⟨10.1109/HUMANOIDS.2018.8624925⟩
Communication dans un congrès
hal-01851596
v2
|
|
|
Analytical Derivatives of Rigid Body Dynamics AlgorithmsRobotics: Science and Systems (RSS 2018), Jun 2018, Pittsburgh, United States
Communication dans un congrès
hal-01790971
v2
|
|
|
A mechanical descriptor of human locomotion and its application to multi-contact walking in humanoids7th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2018, Aug 2018, ENSCHEDE, Netherlands
Communication dans un congrès
hal-01569252
v2
|
|
|
TALOS: A new humanoid research platform targeted for industrial applicationsInternational Conference on Humanoid Robotics, ICHR, Birmingham 2017, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/HUMANOIDS.2017.8246947⟩
Communication dans un congrès
hal-01485519
v2
|
|
|
Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D projectRSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p
Communication dans un congrès
hal-01543060
v1
|
|
|
Actuator Design of Compliant Walkers via Optimal ControlIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Sep 2017, Vancouver, Canada. 7p
Communication dans un congrès
hal-01483567
v2
|
|
|
Learning Feasibility Constraints for Multi-contact Locomotion of Legged RobotsRobotics: Science and Systems, Jul 2017, Cambridge, MA, United States. 9p
Communication dans un congrès
hal-01526200
v1
|
|
|
A Simulation Framework for Simultaneous Design and Control of Passivity Based Walkers2016 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
|
|
|
A Versatile and Efficient Pattern Generator for Generalized Legged LocomotionIEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden, May 2016, Stockholm, Sweden
Communication dans un congrès
hal-01203507
v2
|
|
|
The Yoyo-ManInternational Symposium on Robotics Research (ISRR), Sep 2015, Sestri Levante, Italy
Communication dans un congrès
hal-01175591
v1
|
|
|
A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system — A complementary filtering approach2015 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
|
|
|
An analytical model of rolling contact and its application to the modeling of bipedal locomotionIMA Conference on Mathematics of Robotics, Sep 2015, Oxford, United Kingdom
Communication dans un congrès
hal-01182733
v1
|
|
|
METAPOD Template META-programming applied to dynamics: CoP-CoM trajectories filteringInternational Conference on Humanoid Robotics, Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041391⟩
Communication dans un congrès
hal-01122475
v1
|
|
|
Companion Report of PROXQP: an Efficient and Versatile Quadratic Programming Solver for Real-Time Robotics Applications and BeyondINRIA. 2023
Rapport
hal-04196897
v1
|
|
|
Computational details for : "Optimal Estimation of the Centroidal Dynamics of Legged Robots[Research Report] Rapport LAAS n° 21072, LAAS-CNRS; Université de Montréal. 2021
Rapport
(rapport de recherche)
hal-03180052
v4
|
|
|
Analytical Inverse of the Joint Space Inertia Matrix2018
Rapport
(rapport technique)
hal-01790934
v2
|
|
|
Fondements calculatoires de la locomotion anthropomorpheRobotics [cs.RO]. Université Paul Sabatier - Toulouse III, 2017. English. ⟨NNT : 2017TOU30376⟩
Thèse
tel-01841095
v2
|
Chargement...
Chargement...