Justin Carpentier

99 %
Libre accès
95
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

Deposit thumbnail

Matrix-Free Delassus Operations: Scalable and Memory-Efficient Algorithms

Ajay Suresha Sathya , Louis Montaut , Yann de Mont-Marin , Justin Carpentier

2026

Pré-publication, Document de travail hal-05457476v1
Deposit thumbnail

Variance-Reduced Model Predictive Path Integral via Quadratic Model Approximation

Fabian Schramm , Franki Nguimatsia Tiofack , Nicolas Perrin-Gilbert , Marc Toussaint , Justin Carpentier

2026

Pré-publication, Document de travail hal-05492619v1
Deposit thumbnail

Constrained Articulated Body Algorithms for Closed-Loop Mechanisms

Ajay Suresha Sathya , Justin Carpentier

2025

Pré-publication, Document de travail hal-04895583v2
Deposit thumbnail

First-order Sobolev Reinforcement Learning

Fabian Schramm , Nicolas Perrin-Gilbert , Justin Carpentier

2025

Pré-publication, Document de travail hal-05401970v1
Deposit thumbnail

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-04694092v2
Deposit thumbnail

Sobolev Diffusion Policy

Théotime Le Hellard , Franki Nguimatsia Tiofack , Quentin Le Lidec , Justin Carpentier

2025

Pré-publication, Document de travail hal-05179357v1
Deposit thumbnail

Reference-Free Sampling-Based Model Predictive Control

Fabian Schramm , Pierre Fabre , Nicolas Perrin-Gilbert , Justin Carpentier

2025

Pré-publication, Document de travail hal-05401976v1
Deposit thumbnail

Contact-Implicit Inverse Dynamics

Etienne Ménager , Antoine Bambade , Wilson Jallet , Alberto de Marchi , Justin Carpentier

2025

Pré-publication, Document de travail (preprint/prepublication) hal-05201780v2
Deposit thumbnail

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-05184030v1
Deposit thumbnail

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-05400311v2

Augmented Lagrangian methods for infeasible convex optimization problems and diverging proximal-point algorithms

Roland Andrews , Justin Carpentier , Adrien Taylor

2025

Pré-publication, Document de travail hal-05461095v1
Deposit thumbnail

On the Conic Complementarity of Planar Contacts

Yann de Mont-Marin , Louis Montaut , Jean Ponce , Martial Hebert , Justin Carpentier

IEEE International Conference on Robotics & Automation, Jun 2026, Viennes, Austria

Communication dans un congrès hal-05267202v2
Deposit thumbnail

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-04716938v3
Deposit thumbnail

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-04916093v1
Deposit thumbnail

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-04706628v1
Deposit thumbnail

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-04133055v2
Deposit thumbnail

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-04607809v1
Deposit thumbnail

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-04575334v3
Deposit thumbnail

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-04706577v1
Deposit thumbnail

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-04466639v1
Deposit thumbnail

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-04107207v2
Deposit thumbnail

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-04647996v2
Deposit thumbnail

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-04564888v1
Deposit thumbnail

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-04661974v3
Deposit thumbnail

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-04588906v1
Deposit thumbnail

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-03786820v2
Deposit thumbnail

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-03780392v3
Deposit thumbnail

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-03945110v2
Deposit thumbnail

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-03780482v3
Deposit thumbnail

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-04141469v1
Deposit thumbnail

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-03703324v1
Deposit thumbnail

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-03910329v1
Deposit thumbnail

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-03351641v2
Deposit thumbnail

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-03377120v1
Deposit thumbnail

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-03758989v2
Deposit thumbnail

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-03680510v2
Deposit thumbnail

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-03683733v1
Deposit thumbnail

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-03597630v5
Deposit thumbnail

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-03662157v1
Deposit thumbnail

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-03271811v1
Deposit thumbnail

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-03000951v1

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-03572205v1
Deposit thumbnail

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-02944348v1
Deposit thumbnail

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-03541487v1
Deposit thumbnail

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-03193940v1
Deposit thumbnail

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-03405911v2
Deposit thumbnail

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-03378451v1
Deposit thumbnail

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-02984348v2
Deposit thumbnail

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-03184203v2

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-02898916v1
Deposit thumbnail

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-02294059v1

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-02950800v1
Deposit thumbnail

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-01875031v3
Deposit thumbnail

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-01866228v2

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-03411657v1
Deposit thumbnail

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-01851596v2
Deposit thumbnail

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-01790971v2
Deposit thumbnail

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-01569252v2
Deposit thumbnail

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-01483567v2
Deposit thumbnail

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-01526200v1
Deposit thumbnail

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-01543060v1
Deposit thumbnail

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-01485519v2
Deposit thumbnail

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-01203507v2
Deposit thumbnail

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-01360450v2
Deposit thumbnail

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-01182733v1
Deposit thumbnail

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-01175592v3
Deposit thumbnail

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-01175591v1
Deposit thumbnail

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-01122475v1
Deposit thumbnail

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-04948407v1
Deposit thumbnail

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-04332348v3
Deposit thumbnail

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, ⟨10.1109/TRO.2025.3577107⟩

Article dans une revue hal-04198663v4
Deposit thumbnail

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, ⟨10.1109/TRO.2025.3595674⟩

Article dans une revue hal-04330251v3
Deposit thumbnail

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-04070039v3
Deposit thumbnail

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-04438175v2
Deposit thumbnail

Constrained Articulated Body Dynamics Algorithms

Ajay Sathya , Justin Carpentier

IEEE Transactions on Robotics, 2024, ⟨10.1109/TRO.2024.3502515⟩

Article dans une revue hal-04443056v2
Deposit thumbnail

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-04162737v1
Deposit thumbnail

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-04067291v3
Deposit thumbnail

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-03480419v4
Deposit thumbnail

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-03705557v1

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-03420419v1
Deposit thumbnail

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-03478117v1
Deposit thumbnail

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-03193886v1
Deposit thumbnail

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-03025616v3
Deposit thumbnail

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-02108930v1
Deposit thumbnail

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-01894869v4
Deposit thumbnail

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-02058890v2
Deposit thumbnail

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-01859108v1
Deposit thumbnail

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-01316032v3
Deposit thumbnail

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-01377361v2
Deposit thumbnail

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-01182734v3
Deposit thumbnail

Fondements calculatoires de la locomotion anthropomorphe

Justin Carpentier

Robotics [cs.RO]. Université Paul Sabatier - Toulouse III, 2017. English. ⟨NNT : 2017TOU30376⟩

Thèse tel-01841095v2