Justin Carpentier

111 papers A* 17A 4Misc 2Journal 60Unranked 27
YearRankTypeTitle / Venue / Authors
2026 J jnl
Constrained Articulated Body Algorithms for Closed-Loop Mechanisms.
IEEE Trans. Robotics
Ajay Suresha Sathya, Justin Carpentier
2026 J jnl
Constrained Sampling to Guide Universal Manipulation RL.
CoRR
Marc Toussaint, Cornelius V. Braun, Eckart Cobo-Briesewitz, Sayantan Auddy, Armand Jordana, Justin Carpentier
2026 J jnl
Frictional Contact Solving for Material Point Method.
CoRR
Etienne Ménager, Justin Carpentier
2026 J jnl
Variance-Reduced Model Predictive Path Integral via Quadratic Model Approximation.
CoRR
Fabian Schramm, Franki Nguimatsia Tiofack, Nicolas Perrin-Gilbert, Marc Toussaint, Justin Carpentier
2025 J jnl
Augmented Lagrangian methods for infeasible convex optimization problems and diverging proximal-point algorithms.
CoRR
Roland Andrews, Justin Carpentier, Adrien B. Taylor
2025 J jnl
Constrained Articulated Body Dynamics Algorithms.
IEEE Trans. Robotics
Ajay Suresha Sathya, Justin Carpentier
2025 — conf
Differentiable Simulation of Soft Robots with Frictional Contacts.
RoboSoft
Etienne Ménager, Louis Montaut, Quentin Le Lidec, Justin Carpentier
2025 J jnl
Differentiable Simulation of Soft Robots with Frictional Contacts.
CoRR
Etienne Ménager, Louis Montaut, Quentin Le Lidec, Justin Carpentier
2025 J jnl
First-order Sobolev Reinforcement Learning.
CoRR
Fabian Schramm, Nicolas Perrin-Gilbert, Justin Carpentier
2025 J jnl
Guided Flow Policy: Learning from High-Value Actions in Offline Reinforcement Learning.
CoRR
Franki Nguimatsia Tiofack, Théotime Le Hellard, Fabian Schramm, Nicolas Perrin-Gilbert, Justin Carpentier
2025 J jnl
Infinite-Horizon Value Function Approximation for Model Predictive Control.
CoRR
Armand Jordana, Sébastien Kleff, Arthur Haffemayer, Joaquim Ortiz de Haro, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
2025 J jnl
Infinite-Horizon Value Function Approximation for Model Predictive Control.
IEEE Robotics Autom. Lett.
Armand Jordana, Sébastien Kleff, Arthur Haffemayer, Joaquim Ortiz de Haro, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
2025 J jnl
KernelSOS for Global Sampling-Based Optimal Control and Estimation via Semidefinite Programming.
CoRR
Antoine Groudiev, Fabian Schramm, Eloïse Berthier, Justin Carpentier, Frederike Dümbgen
2025 J jnl
Multi-step manipulation task and motion planning guided by video demonstration.
CoRR
Kateryna Zorina, David Kovár, Mederic Fourmy, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimír Petrík
2025 J jnl
On the Conic Complementarity of Planar Contacts.
CoRR
Yann de Mont-Marin, Louis Montaut, Jean Ponce, Martial Hebert, Justin Carpentier
2025 A conf
Optimal Control of Walkers with Parallel Actuation.
IROS
Ludovic De Matteïs, Virgile Batto, Justin Carpentier, Nicolas Mansard
2025 J jnl
Optimal Control of Walkers with Parallel Actuation.
CoRR
Ludovic De Matteïs, Virgile Batto, Justin Carpentier, Nicolas Mansard
2025 J jnl
PhysPose: Refining 6D Object Poses with Physical Constraints.
CoRR
Martin Malenický, Martin Cífka, Médéric Fourmy, Louis Montaut, Justin Carpentier, Josef Sivic, Vladimír Petrík
2025 J jnl
ProxDDP: Proximal Constrained Trajectory Optimization.
IEEE Trans. Robotics
Wilson Jallet, Antoine Bambade, Etienne Arlaud, Sarah El Kazdadi, Nicolas Mansard, Justin Carpentier
2025 J jnl
Reference-Free Sampling-Based Model Predictive Control.
CoRR
Fabian Schramm, Pierre Fabre, Nicolas Perrin-Gilbert, Justin Carpentier
2025 J jnl
Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control.
IEEE Trans. Robotics
Armand Jordana, Sébastien Kleff, Avadesh Meduri, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
2024 — conf
CACTO-SL: Using Sobolev learning to improve continuous actor-critic with trajectory optimization.
L4DC
Elisa Alboni, Gianluigi Grandesso, Gastone Pietro Rosati Papini, Justin Carpentier, Andrea Del Prete
2024 J jnl
Co-designing versatile quadruped robots for dynamic and energy-efficient motions.
Robotica
Gabriele Fadini, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea Del Prete, Justin Carpentier, Philippe Souères
2024 — conf
Condensed Semi-Implicit Dynamics for Trajectory Optimization in Soft Robotics.
RoboSoft
Etienne Ménager, Alexandre Bilger, Wilson Jallet, Justin Carpentier, Christian Duriez
2024 J jnl
Contact Models in Robotics: A Comparative Analysis.
IEEE Trans. Robotics
Quentin Le Lidec, Wilson Jallet, Louis Montaut, Ivan Laptev, Cordelia Schmid, Justin Carpentier
2024 J jnl
End-to-End and Highly-Efficient Differentiable Simulation for Robotics.
CoRR
Quentin Le Lidec, Louis Montaut, Yann de Mont-Marin, Justin Carpentier
2024 A* conf
Force Feedback Model-Predictive Control via Online Estimation.
ICRA
Armand Jordana, Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
2024 — conf
From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach.
Robotics: Science and Systems
Justin Carpentier, Quentin Le Lidec, Louis Montaut
2024 J jnl
From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach.
CoRR
Justin Carpentier, Louis Montaut, Quentin Le Lidec
2024 — conf
From centroidal to whole-body models for legged locomotion: a comparative analysis.
Humanoids
Ewen Dantec, Wilson Jallet, Justin Carpentier
2024 J jnl
GJK++: Leveraging Acceleration Methods for Faster Collision Detection.
IEEE Trans. Robotics
Louis Montaut, Quentin Le Lidec, Vladimír Petrík, Josef Sivic, Justin Carpentier
2024 — conf
I-GRIP, a Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices.
Humanoids
Etienne Moullet, Justin Carpentier, Christine Azevedo-Coste, François Bailly
2024 — conf
Learning System Dynamics from Sensory Input under Optimal Control Principles.
CDC
Oumayma Bounou, Jean Ponce, Justin Carpentier
2024 A* conf
Leveraging augmented-Lagrangian techniques for differentiating over infeasible quadratic programs in machine learning.
ICLR
Antoine Bambade, Fabian Schramm, Adrien B. Taylor, Justin Carpentier
2024 — conf
Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective.
Robotics: Science and Systems
Bruce Wingo, Ajay Suresha Sathya, Stéphane Caron, Seth A. Hutchinson, Justin Carpentier
2024 J jnl
Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC.
CoRR
Wilson Jallet, Ewen Dantec, Etienne Arlaud, Justin Carpentier, Nicolas Mansard
2024 — conf
Parallel and Proximal Linear-Quadratic Methods for Real-Time Constrained Model-Predictive Control.
Robotics: Science and Systems
Wilson Jallet, Ewen Dantec, Etienne Arlaud, Nicolas Mansard, Justin Carpentier
2024 J jnl
Reconciling RaiSim With the Maximum Dissipation Principle.
IEEE Trans. Robotics
Quentin Le Lidec, Justin Carpentier
2024 A* conf
Risk-Sensitive Extended Kalman Filter.
ICRA
Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti
2023 J jnl
CACTO-SL: Using Sobolev Learning to improve Continuous Actor-Critic with Trajectory Optimization.
CoRR
Elisa Alboni, Gianluigi Grandesso, Gastone Pietro Rosati Papini, Justin Carpentier, Andrea Del Prete
2023 J jnl
Contact Models in Robotics: a Comparative Analysis.
CoRR
Quentin Le Lidec, Wilson Jallet, Louis Montaut, Ivan Laptev, Cordelia Schmid, Justin Carpentier
2023 A* conf
Differentiable Collision Detection: a Randomized Smoothing Approach.
ICRA
Louis Montaut, Quentin Le Lidec, Antoine Bambade, Vladimír Petrík, Josef Sivic, Justin Carpentier
2023 A* conf
Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control.
ICRA
Quentin Le Lidec, Wilson Jallet, Ivan Laptev, Cordelia Schmid, Justin Carpentier
2023 A conf
Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid Using Whole Body Trajectory Optimization.
IROS
Melya Boukheddimi, Rohit Kumar, Shivesh Kumar, Justin Carpentier, Frank Kirchner
2023 — conf
Leveraging Proximal Optimization for Differentiating Optimal Control Solvers.
CDC
Oumayma Bounou, Jean Ponce, Justin Carpentier
2023 A* conf
Multi-Contact Task and Motion Planning Guided by Video Demonstration.
ICRA
Kateryna Zorina, David Kovár, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimír Petrík
2023 J jnl
Risk-Sensitive Extended Kalman Filter.
CoRR
Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti
2022 J jnl
Augmenting differentiable physics with randomized smoothing.
CoRR
Quentin Le Lidec, Louis Montaut, Cordelia Schmid, Ivan Laptev, Justin Carpentier
2022 — conf
Collision Detection Accelerated: An Optimization Perspective.
Robotics: Science and Systems
Louis Montaut, Quentin Le Lidec, Vladimír Petrík, Josef Sivic, Justin Carpentier
2022 J jnl
Collision Detection Accelerated: An Optimization Perspective.
CoRR
Louis Montaut, Quentin Le Lidec, Vladimír Petrík, Josef Sivic, Justin Carpentier
2022 A conf
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach.
IROS
Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier
2022 J jnl
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach.
CoRR
Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier
2022 J jnl
Differentiable Collision Detection: a Randomized Smoothing Approach.
CoRR
Louis Montaut, Quentin Le Lidec, Antoine Bambade, Vladimír Petrík, Josef Sivic, Justin Carpentier
2022 J jnl
Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control.
CoRR
Quentin Le Lidec, Wilson Jallet, Ivan Laptev, Cordelia Schmid, Justin Carpentier
2022 J jnl
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos.
Int. J. Comput. Vis.
Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic
2022 A* conf
Implicit Differential Dynamic Programming.
ICRA
Wilson Jallet, Nicolas Mansard, Justin Carpentier
2022 — conf
Infinite-Dimensional Sums-of-Squares for Optimal Control.
CDC
Eloïse Berthier, Justin Carpentier, Alessandro Rudi, Francis R. Bach
2022 J jnl
Learning to Manipulate Tools by Aligning Simulation to Video Demonstration.
IEEE Robotics Autom. Lett.
Kateryna Zorina, Justin Carpentier, Josef Sivic, Vladimír Petrík
2022 J jnl
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems.
CoRR
Quentin Le Lidec, Louis Montaut, Cordelia Schmid, Ivan Laptev, Justin Carpentier
2022 Misc conf
MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.
CoRL
Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic
2022 J jnl
MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.
CoRR
Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic
2022 — conf
On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos.
Humanoids
Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
2022 — conf
PROX-QP: Yet another Quadratic Programming Solver for Robotics and beyond.
Robotics: Science and Systems
Antoine Bambade, Sarah El Kazdadi, Adrien B. Taylor, Justin Carpentier
2022 J jnl
ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond.
CoRR
Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier
2022 J jnl
Stagewise Newton Method for Dynamic Game Control With Imperfect State Observation.
IEEE Control. Syst. Lett.
Armand Jordana, Bilal Hammoud, Justin Carpentier, Ludovic Righetti
2021 A* conf
A Hybrid Collision Model for Safety Collision Control.
ICRA
Thibault Noël, Thomas Flayols, Joseph Mirabel, Justin Carpentier, Nicolas Mansard
2021 J jnl
Differentiable Rendering with Perturbed Optimizers.
CoRR
Quentin Le Lidec, Ivan Laptev, Cordelia Schmid, Justin Carpentier
2021 J jnl
Differentiable Simulation for Physical System Identification.
IEEE Robotics Autom. Lett.
Quentin Le Lidec, Igor Kalevatykh, Ivan Laptev, Cordelia Schmid, Justin Carpentier
2021 A* conf
Differentiable rendering with perturbed optimizers.
NeurIPS
Quentin Le Lidec, Ivan Laptev, Cordelia Schmid, Justin Carpentier
2021 A* conf
Equality Constrained Differential Dynamic Programming.
ICRA
Sarah El Kazdadi, Justin Carpentier, Jean Ponce
2021 J jnl
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos.
CoRR
Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic
2021 J jnl
Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts.
CoRR
Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete
2021 — conf
Fast and Robust Stability Region Estimation for Nonlinear Dynamical Systems.
ECC
Eloïse Berthier, Justin Carpentier, Francis R. Bach
2021 J jnl
Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting.
CoRR
Armand Jordana, Justin Carpentier, Ludovic Righetti
2021 J jnl
Learning to Manipulate Tools by Aligning Simulation to Video Demonstration.
CoRR
Kateryna Zorina, Justin Carpentier, Josef Sivic, Vladimír Petrík
2021 A* conf
Online Learning and Control of Complex Dynamical Systems from Sensory Input.
NeurIPS
Oumayma Bounou, Jean Ponce, Justin Carpentier
2021 A* conf
Optimal Estimation of the Centroidal Dynamics of Legged Robots.
ICRA
François Bailly, Justin Carpentier, Philippe Souères
2021 — conf
Proximal and Sparse Resolution of Constrained Dynamic Equations.
Robotics: Science and Systems
Justin Carpentier, Rohan Budhiraja, Nicolas Mansard
2021 A* conf
Single-View Robot Pose and Joint Angle Estimation via Render & Compare.
CVPR
Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic
2021 J jnl
Single-view robot pose and joint angle estimation via render & compare.
CoRR
Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic
2020 J jnl
C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios.
IEEE Trans. Robotics
Pierre Fernbach, Steve Tonneau, Olivier Stasse, Justin Carpentier, Michel Taïx
2020 — conf
CosyPose: Consistent Multi-view Multi-object 6D Pose Estimation.
ECCV (17)
Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic
2020 J jnl
CosyPose: Consistent multi-view multi-object 6D pose estimation.
CoRR
Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic
2020 A* conf
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.
ICRA
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard
2020 Misc conf
Learning Obstacle Representations for Neural Motion Planning.
CoRL
Robin Strudel, Ricardo Garcia, Justin Carpentier, Jean-Paul Laumond, Ivan Laptev, Cordelia Schmid
2020 J jnl
Learning Obstacle Representations for Neural Motion Planning.
CoRR
Robin Strudel, Ricardo Garcia, Justin Carpentier, Jean-Paul Laumond, Ivan Laptev, Cordelia Schmid
2020 J jnl
Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning.
IEEE Robotics Autom. Lett.
Yann Labbé, Sergey Zagoruyko, Igor Kalevatykh, Ivan Laptev, Justin Carpentier, Mathieu Aubry, Josef Sivic
2019 J jnl
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.
CoRR
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard
2019 J jnl
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics.
CoRR
Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
2019 A* conf
Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots.
ICRA
Rohan Budhiraja, Justin Carpentier, Nicolas Mansard
2019 A* conf
Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video.
CVPR
Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic
2019 J jnl
Estimating 3D Motion and Forces of Person-Object Interactions from Monocular Video.
CoRR
Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic
2019 J jnl
Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion - A Recursive Approach.
IEEE Robotics Autom. Lett.
François Bailly, Justin Carpentier, Mehdi Benallegue, Bruno Watier, Philippe Souères
2019 J jnl
Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning.
CoRR
Sergey Zagoruyko, Yann Labbé, Igor Kalevatykh, Ivan Laptev, Justin Carpentier, Mathieu Aubry, Josef Sivic
2019 — conf
The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives.
SII
Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, Olivier Stasse, Nicolas Mansard
2018 — conf
A Mechanical Descriptor of Human Locomotion and its Application to Multi-Contact Walking in Humanoids.
BioRob
François Bailly, Justin Carpentier, Bertr Pinet, Philippe Souères, Bruno Watier
2018 — conf
Analytical Derivatives of Rigid Body Dynamics Algorithms.
Robotics: Science and Systems
Justin Carpentier, Nicolas Mansard
2018 — conf
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics.
Humanoids
Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
2018 J jnl
Multicontact Locomotion of Legged Robots.
IEEE Trans. Robotics
Justin Carpentier, Nicolas Mansard
2017 A conf
Actuator design of compliant walkers via optimal control.
IROS
Gabriele Buondonno, Justin Carpentier, Guilhem Saurel, Nicolas Mansard, Alessandro De Luca, Jean-Paul Laumond
2017 — —
Fondements calculatoires de la locomotion anthropomorphe. (Computational foundations of anthropomorphic locomotion).
Justin Carpentier
2017 — conf
Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots.
Robotics: Science and Systems
Justin Carpentier, Rohan Budhiraja, Nicolas Mansard
2017 J jnl
On the centre of mass motion in human walking.
Int. J. Autom. Comput.
Justin Carpentier, Mehdi Benallegue, Jean-Paul Laumond
2017 — conf
TALOS: A new humanoid research platform targeted for industrial applications.
Humanoids
Olivier Stasse, Thomas Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, Andrea Del Prete, Philippe Souères, Nicolas Mansard, Florent Lamiraux, Jean-Paul Laumond, Luca Marchionni, Hilario Tome, Francesco Ferro
2017 J jnl
The Yoyo-Man.
Int. J. Robotics Res.
Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz
2016 — conf
A simulation framework for simultaneous design and control of passivity based walkers.
SIMPAR
Guilhem Saurel, Justin Carpentier, Nicolas Mansard, Jean-Paul Laumond
2016 A* conf
A versatile and efficient pattern generator for generalized legged locomotion.
ICRA
Justin Carpentier, Steve Tonneau, Maximilien Naveau, Olivier Stasse, Nicolas Mansard
2016 J jnl
Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach.
IEEE Trans. Robotics
Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond
2015 — conf
A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach.
Humanoids
Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond
2015 — conf
The Yoyo-Man.
ISRR (2)
Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz
2014 — conf
METAPOD - Template META-programming applied to dynamics: CoP-CoM trajectories filtering.
Humanoids
Maximilien Naveau, Justin Carpentier, S. Barthelemy, Olivier Stasse, Philippe Souères