Justin Carpentier
- Models of visual object recognition and scene understanding (WILLOW)
- Département d'informatique - ENS-PSL (DI-ENS)
Domaines de recherche
Publications
Publications
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Frictional Contact Solving for Material Point Method2026 |
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On the Conic Complementarity of Planar ContactsIEEE International Conference on Robotics & Automation, Jun 2026, Viennes, Austria |
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Guided Flow Policy: Learning from High-Value Actions in Offline Reinforcement LearningICLR 2026 - The Fourteenth International Conference on Learning Representations, Apr 2026, Rio de Janeiro, Brazil |
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Optimal Control of Walkers with Parallel Actuation2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Oct 2025, Hangzhou, China |
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Differentiable Simulation of Soft Robots with Frictional ContactsRoboSoft 2025 - 8th IEEE-RAS International Conference on Soft Robotics, Apr 2025, Lausanne, Switzerland |
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Reference-Free Sampling-Based Model Predictive ControlICRA 2026 - IEEE International Conference on Robotics and Automation, Jun 2026, Vienna, Austria |
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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⟩ |
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A Grasping Movement Intention Estimator for Intuitive Control of Assistive DevicesICNR 2024 - International Conference on NeuroRehabilitation, Nov 2024, La Granja, Spain |
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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 |
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Linear-time Differential Inverse Kinematics: an Augmented Lagrangian PerspectiveRSS 2024 - Robotics: Science and Systems, RSS Foundation, Jul 2024, Delft, Netherlands |
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Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPCRobotics: Science and Systems, Jul 2024, Delft, Netherlands |
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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 |
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Risk-Sensitive Extended Kalman Filter2024 IEEE International Conference on Robotics and Automation (ICRA), IEEE, May 2024, Yokohama, Japan |
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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 |
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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⟩ |
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Learning System Dynamics from Sensory Input under Optimal Control PrinciplesCDC 2024 Conference on Decision and Control, Dec 2024, Milan, Italy |
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From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach20th edition of the “Robotics: Science and Systems” (RSS) Conference, Jul 2024, Delft, Netherlands |
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Differentiable Collision Detection: a Randomized Smoothing Approach2023 IEEE International Conference on Robotics and Automation (ICRA), IEEE-RAS, May 2023, London, France |
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Leveraging Proximal Optimization for Differentiating Optimal Control SolversIEEE 62nd Conference on Decision and Control (CDC), Dec 2023, Singapore, Singapore |
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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 |
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Multi-Contact Task and Motion Planning Guided by Video DemonstrationICRA 2023 - International Conference on Robotics and Automation, IEEE, May 2023, Londres, United Kingdom |
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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 |
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Augmenting differentiable physics with randomized smoothingRSS 2022 - Robotics Science and Systems, Workshop on Differentiable Simulation For Robotics, Jun 2022, New York, United States |
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MegaPose: 6D Pose Estimation of Novel Objects via Render & CompareCoRL 2022 - Conference on Robot Learning, Dec 2022, Auckland, New Zealand |
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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⟩ |
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Infinite-Dimensional Sums-of-Squares for Optimal Control61st IEEE Conference on Decision and Control, IEEE, Dec 2022, Cancun, Mexico |
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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⟩ |
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ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond6th Legged Robots Workshop, May 2022, Philadelphia, Pennsylvania, United States |
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PROX-QP: Yet another Quadratic Programming Solver for Robotics and beyondRSS 2022 - Robotics: Science and Systems, Jun 2022, New York, United States |
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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⟩ |
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Collision Detection Accelerated: An Optimization PerspectiveRSS 2022 - Robotics: Science and Systems, Jun 2022, New York, United States |
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Learning Obstacle Representations for Neural Motion PlanningCoRL 2020 - Conference on Robot Learning, Nov 2020, Cambridge, MA / Virtual, United States. pp.355-364 |
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Proximal and Sparse Resolution of Constrained Dynamic EquationsRobotics: Science and Systems 2021, Jul 2021, Austin / Virtual, United States |
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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⟩ |
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⟩ |
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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⟩ |
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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 |
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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 |
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Differentiable Rendering with Perturbed OptimizersNeurIPS 2021 - Thirty-fifth Conference on Neural Information Processing Systems, Dec 2021, Sydney / Virtual, Australia |
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Equality Constrained Differential Dynamic ProgrammingICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xi’an, China |
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Fast and Robust Stability Region Estimation for Nonlinear Dynamical SystemsEuropean Control Conference (ECC) 2021, Jun 2021, Rotterdam, Netherlands |
Crocoddyl: Fast computation, Efficient solvers,Receding horizon and LearningJournées Nationales de la Robotique Humanoïde, May 2020, Paris (virtual), France |
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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⟩ |
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CosyPose: Consistent multi-view multi-object 6D pose estimationEuropean Conference on Computer Vision, Aug 2020, Glasgow, United Kingdom |
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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 |
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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 |
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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⟩ |
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Analytical Derivatives of Rigid Body Dynamics AlgorithmsRobotics: Science and Systems (RSS 2018), Jun 2018, Pittsburgh, United States |
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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⟩ |
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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 |
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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⟩ |
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Actuator Design of Compliant Walkers via Optimal ControlIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Sep 2017, Vancouver, Canada. 7p |
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Learning Feasibility Constraints for Multi-contact Locomotion of Legged RobotsRobotics: Science and Systems, Jul 2017, Cambridge, MA, United States. 9p |
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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 |
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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 |
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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⟩ |
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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 |
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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⟩ |
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The Yoyo-ManInternational Symposium on Robotics Research (ISRR), Sep 2015, Sestri Levante, Italy |
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METAPOD Template META-programming applied to dynamics: CoP-CoM trajectories filteringInternational Conference on Humanoid Robotics, Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041391⟩ |
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Companion Report of PROXQP: an Efficient and Versatile Quadratic Programming Solver for Real-Time Robotics Applications and BeyondINRIA. 2023 |
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Computational details for : "Optimal Estimation of the Centroidal Dynamics of Legged Robots[Research Report] Rapport LAAS n° 21072, LAAS-CNRS; Université de Montréal. 2021 |
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Analytical Inverse of the Joint Space Inertia Matrix2018 |
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Fondements calculatoires de la locomotion anthropomorpheRobotics [cs.RO]. Université Paul Sabatier - Toulouse III, 2017. English. ⟨NNT : 2017TOU30376⟩ |