Publications
Scientific Papers
Multi-Contact Task and Motion Planning Guided by Video Demonstration
Authors: Kateryna Zorina, David Kovar, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimir Petrik
Related DatasetsDifferentiable Collision Detection: a Randomized Smoothing Approach
Authors: Louis Montaut, Quentin Le Lidec, Antoine Bambade, Vladimir Petrik, Josef Sivic, Justin Carpentier
Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control
Authors: Quentin Le Lidec, Wilson Jallet, Ivan Laptev, Cordelia Schmid, Justin Carpentier
Imitrob: Imitation Learning Dataset for Training and Evaluating 6D Object Pose Estimators
Authors: Jiri Sedlar, Karla Stepanova, Radoslav Skoviera, Jan K. Behrens, Matus Tuna, Gabriela Sejnova, Josef Sivic, Robert Babuska
Related DatasetsContact Models in Robotics: a Comparative Analysis
Authors: Quentin Le Lidec, Wilson Jallet, Louis Montaut, Ivan Laptev, Cordelia Schmid, Justin Carpentier
GJK++: Leveraging Acceleration Methods for Faster Collision Detection
Authors: Louis Montaut, Quentin Le Lidec, Vladimír Petrík, Josef Sivic, Justin Carpentier
QPLayer: efficient differentiation of convex quadratic optimization
Authors: Antoine Bambade, Fabian Schramm, Adrien Taylor, Justin Carpentier
Companion Report of PROXQP: an Efficient and Versatile Quadratic Programming Solver for Real-Time Robotics Applications and Beyond
Authors: Antoine Bambade, Fabian Schramm, Sarah El Kazdadi, Stéphane Caron, Adrien Taylor, Justin Carpentier
PROXQP: an Efficient and Versatile Quadratic Programming Solver for Real-Time Robotics Applications and Beyond
Authors: Antoine Bambade, Fabian Schramm, Sarah El Kazdadi, Stéphane Caron, Adrien Taylor, Justin Carpentier
MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare
Authors: Yann Labbé,Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic
Related DatasetsVisually Guided Model Predictive Robot Control via 6D Object Pose Localization and Tracking
Authors: Mederic Fourmy, Vojtech Priban, Jan Kristof Behrens, Nicolas Mansard, Josef Sivic, Vladimir Petrik
Related DatasetsLeveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems
Authors: Quentin Le Lidec, Fabian Schramm, Louis Montaut, Cordelia Schmid, Ivan Laptev, Justin Carpentier
Model predictive control under hard collision avoidance constraints for a robotic arm
Authors: Arthur Haffemayer, Armand Jordana, Médéric Fourmy, Krzysztof Wojciechowski, Guilhem Saurel, Vladimír Petrík, Florent Lamiraux, Nicolas Mansar
From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach
Authors: Justin Carpentier, Quentin Le Lide, Louis Montaut.
PROXDDP: Proximal Constrained Trajectory Optimization
Authors: Wilson Jallet, Antoine Bambade, Etienne Arlaud, Sarah El-Kazdadi, Nicolas Mansard, Justin Carpentier.
Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC
Authors: .Wilson Jallet, Ewen Dantec, Etienne Arlaud, Justin Carpentier, Nicolas Mansard.
Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective
Authors: Bruce Wingo, Ajay Sathya, Stéphane Caron, Seth Hutchinson, Justin Carpentier.
Leveraging augmented-Lagrangian techniques for differentiating over infeasible quadratic programs in machine learning
Antoine Bambade, Fabian Schramm, Adrien Taylor, Justin Carpentier.
FocalPose++: Focal Length and Object Pose Estimation via Render and Compare
Authors: Martin C´ıfka , Georgy Ponimatkin , Yann Labbe, Bryan Russell, Mathieu Aubry, Vladimir Petrik and Josef Sivic
