Ludovic Righetti

201 papers A* 28A 18B 1C 3Misc 3Journal 118Unranked 28

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Coupled Local and Global World Models for Efficient First Order RL. CoRR Joseph Amigo, Rooholla Khorrambakht, Nicolas Mansard, Ludovic Righetti
2026	J	`jnl`	Hippo: High-performance Interior-Point and Projection-based Solver for Generic Constrained Trajectory Optimization. CoRR Haizhou Zhao, Ludovic Righetti, Majid Khadiv
2026	J	`jnl`	Is open robotics innovation a threat to international peace and security? CoRR Ludovic Righetti, Vincent Boulanin
2026	J	`jnl`	Toward Global Intent Inference for Human Motion by Inverse Reinforcement Learning. CoRR Sarmad Mehrdad, Maxime Sabbah, Vincent Bonnet, Ludovic Righetti
2025	J	`jnl`	An Introduction to Zero-Order Optimization Techniques for Robotics. CoRR Armand Jordana, Jianghan Zhang, Joseph Amigo, Ludovic Righetti
2025	A*	`conf`	Collision Avoidance in Model Predictive Control Using Velocity Damper. ICRA Arthur Haffemayer, Armand Jordana, Ludovic De Matteïs, Krzysztof Wojciechowski, Ludovic Righetti, Florent Lamiraux, Nicolas Mansard
2025	A	`conf`	Cost Function Estimation Using Inverse Reinforcement Learning with Minimal Observations. IROS Sarmad Mehrdad, Avadesh Meduri, Ludovic Righetti
2025	J	`jnl`	Cost Function Estimation Using Inverse Reinforcement Learning with Minimal Observations. CoRR Sarmad Mehrdad, Avadesh Meduri, Ludovic Righetti
2025	J	`jnl`	First Order Model-Based RL through Decoupled Backpropagation. CoRR Joseph Amigo, Rooholla Khorrambakht, Elliot Chane-Sane, Nicolas Mansard, Ludovic Righetti
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`	Is Open Robotics Innovation a Threat to International Peace and Security?: A Roadmap for Reducing Risks. IEEE Robotics Autom. Mag. Ludovic Righetti, Vincent Boulanin
2025	J	`jnl`	Learning Human Reaching Optimality Principles from Minimal Observation Inverse Reinforcement Learning. CoRR Sarmad Mehrdad, Maxime Sabbah, Vincent Bonnet, Ludovic Righetti
2025	—	`conf`	Minimal Observations Inverse Reinforcement Learning for Predicting Human Box-Lifting Motions. Humanoids Maxime Sabbah, Filip Becanovic, Sarmad Mehrdad, Ludovic Righetti, Bruno Watier, Vincent Bonnet
2025	—	`conf`	Optimal Motion Prediction for Human-to-Robot Handovers. ROBIO Maxime Sabbah, Krzysztof Wojciechowski, Harold Soh, David Hsu, Ludovic Righetti, Nicolas Mansard, Bruno Watier, Vincent Bonnet
2025	J	`jnl`	Safe and Performant Deployment of Autonomous Systems via Model Predictive Control and Hamilton-Jacobi Reachability Analysis. CoRR Hao Wang, Armand Jordana, Ludovic Righetti, Somil Bansal
2025	J	`jnl`	Should We Learn Contact-Rich Manipulation Policies From Sampling-Based Planners? IEEE Robotics Autom. Lett. Huaijiang Zhu, Tong Zhao, Xinpei Ni, Jiuguang Wang, Kuan Fang, Ludovic Righetti, Tao Pang
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
2025	J	`jnl`	WorldPlanner: Monte Carlo Tree Search and MPC with Action-Conditioned Visual World Models. CoRR Rooholla Khorrambakht, Joaquim Ortiz de Haro, Joseph Amigo, Omar Mostafa, Daniel Dugas, Franziska Meier, Ludovic Righetti
2024	J	`jnl`	Accelerated gradient descent for high frequency Model Predictive Control. CoRR Jianghan Zhang, Armand Jordana, Ludovic Righetti
2024	—	`conf`	ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. UR Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini
2024	—	`conf`	Diffusion-based learning of contact plans for agile locomotion. Humanoids Victor Dhédin, Adithya Kumar Chinnakkonda Ravi, Armand Jordana, Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti, Bernhard Schölkopf, Majid Khadiv
2024	J	`jnl`	Efficient Search and Learning for Agile Locomotion on Stepping Stones. CoRR Adithya Kumar Chinnakkonda Ravi, Victor Dhédin, Armand Jordana, Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti, Bernhard Schölkopf, Majid Khadiv
2024	A*	`conf`	Force Feedback Model-Predictive Control via Online Estimation. ICRA Armand Jordana, Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
2024	A*	`conf`	Risk-Sensitive Extended Kalman Filter. ICRA Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti
2024	J	`jnl`	Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles. CoRR Jonas C. Kiemel, Ludovic Righetti, Torsten Kröger, Tamim Asfour
2024	J	`jnl`	Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles. IEEE Robotics Autom. Lett. Jonas C. Kiemel, Ludovic Righetti, Torsten Kröger, Tamim Asfour
2024	J	`jnl`	Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners? CoRR Huaijiang Zhu, Tong Zhao, Xinpei Ni, Jiuguang Wang, Kuan Fang, Ludovic Righetti, Tao Pang
2024	Misc	`conf`	SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience. CoRL Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard
2024	J	`jnl`	SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience. CoRR Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard
2024	A	`conf`	iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization. IROS Joaquim Ortiz de Haro, Wolfgang Hönig, Valentin N. Hartmann, Marc Toussaint, Ludovic Righetti
2024	J	`jnl`	iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization. CoRR Joaquim Ortiz de Haro, Wolfgang Hönig, Valentin N. Hartmann, Marc Toussaint, Ludovic Righetti
2023	J	`jnl`	BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. IEEE Trans. Robotics Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
2023	A	`conf`	Efficient Object Manipulation Planning with Monte Carlo Tree Search. IROS Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti
2023	—	`conf`	Learning Locomotion Skills from MPC in Sensor Space. L4DC Majid Khadiv, Avadesh Meduri, Huaijiang Zhu, Ludovic Righetti, Bernhard Schölkopf
2023	A*	`conf`	Learning Simultaneous Navigation and Construction in Grid Worlds. ICLR Wenyu Han, Haoran Wu, Eisuke Hirota, Alexander Gao, Lerrel Pinto, Ludovic Righetti, Chen Feng
2023	A*	`conf`	MPC with Sensor-Based Online Cost Adaptation. ICRA Avadesh Meduri, Huaijiang Zhu, Armand Jordana, Ludovic Righetti
2023	J	`jnl`	Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty. CoRR Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
2023	A*	`conf`	On the Use of Torque Measurement in Centroidal State Estimation. ICRA Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Maren Bennewitz, Majid Khadiv
2023	A*	`conf`	Path Planning Under Uncertainty to Localize mmWave Sources. ICRA Kai Pfeiffer, Yuze Jia, Mingsheng Yin, Akshaj Kumar Veldanda, Yaqi Hu, Amee Trivedi, Jeff Zhang, Siddharth Garg, Elza Erkip, Sundeep Rangan, Ludovic Righetti
2023	J	`jnl`	Path Planning Under Uncertainty to Localize mmWave Sources. CoRR Kai Pfeiffer, Yuze Jia, Mingsheng Yin, Akshaj Kumar Veldanda, Yaqi Hu, Amee Trivedi, Jeff Zhang, Siddharth Garg, Elza Erkip, Sundeep Rangan, Ludovic Righetti
2023	J	`jnl`	Risk-Sensitive Extended Kalman Filter. CoRR Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti
2023	A*	`conf`	Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion. ICRA Victor Dhédin, Haolong Li, Shahram Khorshidi, Lukas Mack, Adithya Kumar Chinnakkonda Ravi, Avadesh Meduri, Paarth Shah, Felix Grimminger, Ludovic Righetti, Majid Khadiv, Joerg Stueckler
2022	J	`jnl`	BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. CoRR Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
2022	J	`jnl`	ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. CoRR Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini
2022	J	`jnl`	Efficient Object Manipulation Planning with Monte Carlo Tree Search. CoRR Huaijiang Zhu, Ludovic Righetti
2022	A	`conf`	Introducing Force Feedback in Model Predictive Control. IROS Sébastien Kleff, Ewen Dantec, Guilhem Saurel, Nicolas Mansard, Ludovic Righetti
2022	J	`jnl`	MPC with Sensor-Based Online Cost Adaptation. CoRR Avadesh Meduri, Huaijiang Zhu, Armand Jordana, Ludovic Righetti
2022	J	`jnl`	Millimeter Wave Wireless Assisted Robot Navigation With Link State Classification. IEEE Open J. Commun. Soc. Mingsheng Yin, Akshaj Kumar Veldanda, Amee Trivedi, Jeff Zhang, Kai Pfeiffer, Yaqi Hu, Siddharth Garg, Elza Erkip, Ludovic Righetti, Sundeep Rangan
2022	J	`jnl`	Model Based Meta Learning of Critics for Policy Gradients. CoRR Sarah Bechtle, Ludovic Righetti, Franziska Meier
2022	J	`jnl`	Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization. Frontiers Robotics AI Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
2022	C	`conf`	Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. ISRR Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti
2022	J	`jnl`	Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. CoRR Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti
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	J	`jnl`	On the Use of Torque Measurement in Centroidal State Estimation. CoRR Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Majid Khadiv
2022	J	`jnl`	Robust Walking Based on MPC With Viability Guarantees. IEEE Trans. Robotics Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
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
2022	—	`conf`	ValueNetQP: Learned One-step Optimal Control for Legged Locomotion. L4DC Julian Viereck, Avadesh Meduri, Ludovic Righetti
2022	J	`jnl`	ValueNetQP: Learned one-step optimal control for legged locomotion. CoRR Julian Viereck, Avadesh Meduri, Ludovic Righetti
2022	J	`jnl`	Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion. CoRR Victor Dhédin, Haolong Li, Shahram Khorshidi, Lukas Mack, Adithya Kumar Chinnakkonda Ravi, Avadesh Meduri, Paarth Shah, Felix Grimminger, Ludovic Righetti, Majid Khadiv, Joerg Stueckler
2022	C	`conf`	iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations. ACC Bilal Hammoud, Armand Jordana, Ludovic Righetti
2021	J	`jnl`	A Robustness Analysis of Inverse Optimal Control of Bipedal Walking. CoRR John R. Rebula, Stefan Schaal, James M. Finley, Ludovic Righetti
2021	—	`conf`	A unified framework for walking and running of bipedal robots. ICAR Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv
2021	J	`jnl`	A unified framework for walking and running of bipedal robots. CoRR Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv
2021	A*	`conf`	DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain. ICRA Avadesh Meduri, Majid Khadiv, Ludovic Righetti
2021	J	`jnl`	Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics. IEEE Trans. Robotics Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti
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	A*	`conf`	High-Frequency Nonlinear Model Predictive Control of a Manipulator. ICRA Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, Ludovic Righetti
2021	J	`jnl`	Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control. IEEE Robotics Autom. Lett. Bilal Hammoud, Majid Khadiv, Ludovic Righetti
2021	J	`jnl`	Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting. CoRR Armand Jordana, Justin Carpentier, Ludovic Righetti
2021	A*	`conf`	Learning a Centroidal Motion Planner for Legged Locomotion. ICRA Julian Viereck, Ludovic Righetti
2021	A*	`conf`	Leveraging Forward Model Prediction Error for Learning Control. ICRA Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti
2021	J	`jnl`	Millimeter Wave Wireless-Assisted Robotic Navigation with Link State Classification. CoRR Mingsheng Yin, Akshaj Kumar Veldanda, Amee Trivedi, Jeff Zhang, Kai Pfeiffer, Yaqi Hu, Siddharth Garg, Elza Erkip, Ludovic Righetti, Sundeep Rangan
2021	J	`jnl`	Model-free Reinforcement Learning for Robust Locomotion Using Trajectory Optimization for Exploration. CoRR Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
2021	J	`jnl`	NIPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs. CoRR Kai Pfeiffer, Adrien Escande, Ludovic Righetti
2021	J	`jnl`	NIPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control. CoRR Kai Pfeiffer, Ludovic Righetti
2021	A	`conf`	Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. IROS Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
2021	J	`jnl`	Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. CoRR Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
2021	J	`jnl`	Robot Learning With Crash Constraints. IEEE Robotics Autom. Lett. Alonso Marco, Dominik Baumann, Majid Khadiv, Philipp Hennig, Ludovic Righetti, Sebastian Trimpe
2021	J	`jnl`	Simultaneous Navigation and Construction Benchmarking Environments. CoRR Wenyu Han, Chen Feng, Haoran Wu, Alexander Gao, Armand Jordana, Dong Liu, Lerrel Pinto, Ludovic Righetti
2021	J	`jnl`	Slow-fast Dynamics of Strongly Coupled Adaptive Frequency Oscillators. SIAM J. Appl. Dyn. Syst. Ludovic Righetti, Jonas Buchli, Auke Jan Ijspeert
2021	—	`conf`	Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. HUMANOIDS Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
2021	J	`jnl`	Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control. IEEE Robotics Autom. Lett. Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti
2021	J	`jnl`	iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations. CoRR Bilal Hammoud, Armand Jordana, Ludovic Righetti
2020	A*	`conf`	A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models. ICRA Diego Agudelo-España, Andrii Zadaianchuk, Philippe Wenk, Aditya Garg, Joel Akpo, Felix Grimminger, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Georg Martius, Andreas Krause, Bernhard Schölkopf, Stefan Bauer, Manuel Wüthrich
2020	J	`jnl`	An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. IEEE Robotics Autom. Lett. Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti
2020	J	`jnl`	Bipedal Walking Control using Variable Horizon MPC. CoRR Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti
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	J	`jnl`	DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain. CoRR Avadesh Meduri, Majid Khadiv, Ludovic Righetti
2020	J	`jnl`	Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics. CoRR Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti
2020	A	`conf`	Enabling Remote Whole-Body Control with 5G Edge Computing. IROS Huaijiang Zhu, Manali Sharma, Kai Pfeiffer, Marco Mezzavilla, Jia Shen, Sundeep Rangan, Ludovic Righetti
2020	J	`jnl`	Enabling Remote Whole-Body Control with 5G Edge Computing. CoRR Huaijiang Zhu, Manali Sharma, Kai Pfeiffer, Marco Mezzavilla, Jia Shen, Sundeep Rangan, Ludovic Righetti
2020	J	`jnl`	Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control. CoRR Bilal Hammoud, Majid Khadiv, Ludovic Righetti
2020	J	`jnl`	Learning Variable Impedance Control for Contact Sensitive Tasks. IEEE Robotics Autom. Lett. Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
2020	J	`jnl`	Learning a Centroidal Motion Planner for Legged Locomotion. CoRR Julian Viereck, Ludovic Righetti
2020	J	`jnl`	Leveraging Forward Model Prediction Error for Learning Control. CoRR Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti
2020	B	`conf`	Meta Learning via Learned Loss. ICPR Sarah Bechtle, Artem Molchanov, Yevgen Chebotar, Edward Grefenstette, Ludovic Righetti, Gaurav S. Sukhatme, Franziska Meier
2020	J	`jnl`	Robot Learning with Crash Constraints. CoRR Alonso Marco, Dominik Baumann, Majid Khadiv, Philipp Hennig, Ludovic Righetti, Sebastian Trimpe
2020	J	`jnl`	Robust Humanoid Contact Planning With Learned Zero- and One-Step Capturability Prediction. IEEE Robotics Autom. Lett. Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson
2020	J	`jnl`	Robust walking based on MPC with viability-based feasibility guarantees. CoRR Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
2020	J	`jnl`	Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. CoRR Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
2020	Misc	`conf`	TriFinger: An Open-Source Robot for Learning Dexterity. CoRL Manuel Wuthrich, Felix Widmaier, Felix Grimminger, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer
2020	J	`jnl`	TriFinger: An Open-Source Robot for Learning Dexterity. CoRR Manuel Wüthrich, Felix Widmaier, Felix Grimminger, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer
2020	J	`jnl`	Walking Control Based on Step Timing Adaptation. IEEE Trans. Robotics Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti
2019	J	`jnl`	A Robustness Analysis of Inverse Optimal Control of Bipedal Walking. IEEE Robotics Autom. Lett. John R. Rebula, Stefan Schaal, James M. Finley, Ludovic Righetti
2019	J	`jnl`	An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. CoRR Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti
2019	Misc	`conf`	Curious iLQR: Resolving Uncertainty in Model-based RL. CoRL Sarah Bechtle, Yixin Lin, Akshara Rai, Ludovic Righetti, Franziska Meier
2019	J	`jnl`	Curious iLQR: Resolving Uncertainty in Model-based RL. CoRR Sarah Bechtle, Akshara Rai, Yixin Lin, Ludovic Righetti, Franziska Meier
2019	A*	`conf`	Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. ICRA Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson
2019	J	`jnl`	Epstein, Project Maven, and Some Reasons to Think About Where We Get Our Funding [Ethical, Legal, and Societal Issues]. IEEE Robotics Autom. Mag. Timothy Bretl, Ludovic Righetti, Raj Madhavan
2019	J	`jnl`	Growing the Humanoid Robotics Community [TC Spotlight]. IEEE Robotics Autom. Mag. Ludovic Righetti, Tomomichi Sugihara, Giorgio Metta, Katsu Yamane
2019	J	`jnl`	Learning Variable Impedance Control for Contact Sensitive Tasks. CoRR Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
2019	A	`conf`	Learning to Explore in Motion and Interaction Tasks. IROS Miroslav Bogdanovic, Ludovic Righetti
2019	J	`jnl`	Learning to Explore in Motion and Interaction Tasks. CoRR Miroslav Bogdanovic, Ludovic Righetti
2019	A*	`conf`	Leveraging Contact Forces for Learning to Grasp. ICRA Hamza Merzic, Miroslav Bogdanovic, Daniel Kappler, Ludovic Righetti, Jeannette Bohg
2019	J	`jnl`	Meta-Learning via Learned Loss. CoRR Yevgen Chebotar, Artem Molchanov, Sarah Bechtle, Ludovic Righetti, Franziska Meier, Gaurav S. Sukhatme
2019	J	`jnl`	Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction. CoRR Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson
2019	—	`conf`	Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. Humanoids Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti
2019	J	`jnl`	Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. CoRR Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti
2019	J	`jnl`	Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning. CoRR Majid Khadiv, Mohammad Hasan Yeganegi, S. Ali A. Moosavian, Jia-Jie Zhu, Ludovic Righetti
2019	J	`jnl`	Unintended Consequences of Biased Robotic and Artificial Intelligence Systems [Ethical, Legal, and Societal Issues]. IEEE Robotics Autom. Mag. Ludovic Righetti, Raj Madhavan, Raja Chatila
2019	J	`jnl`	Where Do We Go From Here? Debates on the Future of Robotics Research at ICRA 2019 [From the Field]. IEEE Robotics Autom. Mag. Lee E. Clement, Valentin Peretroukhin, Matthew Giamou, John J. Leonard, Hadas Kress-Gazit, Jonathan P. How, Michael Milford, Oliver Brock, Ryan Gariepy, Nicholas Roy, Hallie Siegel, Ludovic Righetti, Aude Billard, Jonathan Kelly
2018	A*	`conf`	An MPC Walking Framework with External Contact Forces. ICRA Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
2018	J	`jnl`	Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. CoRR Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson
2018	—	`conf`	Learning Task-Specific Dynamics to Improve Whole-Body Control. Humanoids Andrej Gams, Sean A. Mason, Ales Ude, Stefan Schaal, Ludovic Righetti
2018	J	`jnl`	Learning Task-Specific Dynamics to Improve Whole-Body Control. CoRR Andrej Gams, Sean A. Mason, Ales Ude, Stefan Schaal, Ludovic Righetti
2018	J	`jnl`	Learning a Structured Neural Network Policy for a Hopping Task. IEEE Robotics Autom. Lett. Julian Viereck, Jules Kozolinsky, Alexander Herzog, Ludovic Righetti
2018	J	`jnl`	Lethal Autonomous Weapon Systems [Ethical, Legal, and Societal Issues]. IEEE Robotics Autom. Mag. Ludovic Righetti, Q.-C. Pham, Raj Madhavan, Raja Chatila
2018	J	`jnl`	Leveraging Contact Forces for Learning to Grasp. CoRR Hamza Merzic, Miroslav Bogdanovic, Daniel Kappler, Ludovic Righetti, Jeannette Bohg
2018	A*	`conf`	On Time Optimization of Centroidal Momentum Dynamics. ICRA Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti
2018	J	`jnl`	Robust Physics-based Motion Retargeting with Realistic Body Shapes. Comput. Graph. Forum Mazen Al Borno, Ludovic Righetti, Michael J. Black, Scott L. Delp, Eugene Fiume, Javier Romero
2018	J	`jnl`	The Impact of Robotics and Automation on Working Conditions and Employment [Ethical, Legal, and Societal Issues]. IEEE Robotics Autom. Mag. Q.-C. Pham, Raj Madhavan, Ludovic Righetti, W. Smart, Raja Chatila
2018	A*	`conf`	Unsupervised Contact Learning for Humanoid Estimation and Control. ICRA Nicholas Rotella, Stefan Schaal, Ludovic Righetti
2017	J	`jnl`	A MPC Walking Framework With External Contact Forces. CoRR Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
2017	J	`jnl`	A robust walking controller based on online step location and duration optimization for bipedal locomotion. CoRR Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti
2017	J	`jnl`	Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints. CoRR Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
2017	J	`jnl`	Learning a Structured Neural Network Policy for a Hopping Task. CoRR Julian Viereck, Jules Kozolinsky, Alexander Herzog, Ludovic Righetti
2017	—	`ch.`	Momentum-Centered Control of Contact Interactions. Geometric and Numerical Foundations of Movements Ludovic Righetti, Alexander Herzog
2017	J	`jnl`	On Time Optimisation of Centroidal Momentum Dynamics. CoRR Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti
2017	J	`jnl`	Pattern Generation for Walking on Slippery Terrains. CoRR Majid Khadiv, S. Ali A. Moosavian, Alexander Herzog, Ludovic Righetti
2017	J	`jnl`	Unsupervised Contact Learning for Humanoid Estimation and Control. CoRR Nicholas Rotella, Stefan Schaal, Ludovic Righetti
2017	J	`jnl`	Whole-Body Control [TC Spotlight]. IEEE Robotics Autom. Mag. Federico L. Moro, Luis Sentis, Jaeheung Park, Christopher G. Atkeson, Michael Gienger, Ambarish Goswami, Shuuji Kajita, Oussama Khatib, James Kuffner, David E. Orin, Christian Ott, Jerry E. Pratt, Ludovic Righetti, Bruno Siciliano, Russ Tedrake, Eiichi Yoshida
2016	J	`jnl`	A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation. CoRR Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti
2016	—	`conf`	A convex model of humanoid momentum dynamics for multi-contact motion generation. Humanoids Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti
2016	—	`conf`	Balancing and walking using full dynamics LQR control with contact constraints. Humanoids Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
2016	J	`jnl`	Inertial Sensor-Based Humanoid Joint State Estimation. CoRR Nicholas Rotella, Sean Mason, Stefan Schaal, Ludovic Righetti
2016	A*	`conf`	Inertial sensor-based humanoid joint state estimation. ICRA Nicholas Rotella, Sean Mason, Stefan Schaal, Ludovic Righetti
2016	J	`jnl`	Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid. Auton. Robots Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal, Ludovic Righetti
2016	C	`conf`	On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions. WAFR Brahayam Pontón, Stefan Schaal, Ludovic Righetti
2016	J	`jnl`	Risk sensitive nonlinear optimal control with measurement uncertainty. CoRR Brahayam Ponton, Stefan Schaal, Ludovic Righetti
2016	J	`jnl`	Step Timing Adjustment: A Step toward Generating Robust Gaits. CoRR Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti
2016	—	`conf`	Step timing adjustment: A step toward generating robust gaits. Humanoids Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti
2016	J	`jnl`	Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment. CoRR Majid Khadiv, Sébastien Kleff, Alexander Herzog, S. Ali A. Moosavian, Stefan Schaal, Ludovic Righetti
2016	A	`conf`	Structured contact force optimization for kino-dynamic motion generation. IROS Alexander Herzog, Stefan Schaal, Ludovic Righetti
2016	J	`jnl`	Structured contact force optimization for kino-dynamic motion generation. CoRR Alexander Herzog, Stefan Schaal, Ludovic Righetti
2015	J	`jnl`	Humanoid Momentum Estimation Using Sensed Contact Wrenches. CoRR Nicholas Rotella, Alexander Herzog, Stefan Schaal, Ludovic Righetti
2015	—	`conf`	Humanoid momentum estimation using sensed contact wrenches. Humanoids Nicholas Rotella, Alexander Herzog, Stefan Schaal, Ludovic Righetti
2015	J	`jnl`	Probabilistic Depth Image Registration incorporating Nonvisual Information. CoRR Manuel Wüthrich, Peter Pastor, Ludovic Righetti, Aude Billard, Stefan Schaal
2015	—	`conf`	Trajectory generation for multi-contact momentum control. Humanoids Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
2015	J	`jnl`	Trajectory generation for multi-contact momentum-control. CoRR Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
2014	J	`jnl`	An autonomous manipulation system based on force control and optimization. Auton. Robots Ludovic Righetti, Mrinal Kalakrishnan, Peter Pastor, Jonathan Binney, Jonathan Kelly, Randolph Voorhies, Gaurav S. Sukhatme, Stefan Schaal
2014	A	`conf`	Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics. IROS Alexander Herzog, Ludovic Righetti, Felix Grimminger, Peter Pastor, Stefan Schaal
2014	A	`conf`	Dual execution of optimized contact interaction trajectories. IROS Marc Toussaint, Nathan D. Ratliff, Jeannette Bohg, Ludovic Righetti, Peter Englert, Stefan Schaal
2014	—	`conf`	Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting. Humanoids Sean Mason, Ludovic Righetti, Stefan Schaal
2014	J	`jnl`	Learning of grasp selection based on shape-templates. Auton. Robots Alexander Herzog, Peter Pastor, Mrinal Kalakrishnan, Ludovic Righetti, Jeannette Bohg, Tamim Asfour, Stefan Schaal
2014	J	`jnl`	Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid. CoRR Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal, Ludovic Righetti
2014	J	`jnl`	State Estimation for a Humanoid Robot. CoRR Nicholas Rotella, Michael Blösch, Ludovic Righetti, Stefan Schaal
2014	A	`conf`	State estimation for a humanoid robot. IROS Nicholas Rotella, Michael Blösch, Ludovic Righetti, Stefan Schaal
2013	—	`conf`	AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots. SSRR Marco Hutter, Michael Blösch, Jonas Buchli, Claudio Semini, Stéphane Bazeille, Ludovic Righetti, Jeannette Bohg
2013	J	`jnl`	Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation. IEEE Trans. Autom. Control. Robert D. Gregg, Ludovic Righetti
2013	A*	`conf`	Learning objective functions for manipulation. ICRA Mrinal Kalakrishnan, Peter Pastor, Ludovic Righetti, Stefan Schaal
2013	A*	`conf`	Learning task error models for manipulation. ICRA Peter Pastor, Mrinal Kalakrishnan, Jonathan Binney, Jonathan Kelly, Ludovic Righetti, Gaurav S. Sukhatme, Stefan Schaal
2013	J	`jnl`	Momentum-based Balance Control for Torque-controlled Humanoids CoRR Alexander Herzog, Ludovic Righetti, Felix Grimminger, Peter Pastor, Stefan Schaal
2013	J	`jnl`	Optimal distribution of contact forces with inverse-dynamics control. Int. J. Robotics Res. Ludovic Righetti, Jonas Buchli, Michael N. Mistry, Mrinal Kalakrishnan, Stefan Schaal
2012	—	`conf`	Encoding of periodic and their transient motions by a single dynamic movement primitive. Humanoids Johannes Ernesti, Ludovic Righetti, Martin Do, Tamim Asfour, Stefan Schaal
2012	A*	`conf`	Learning Force Control Policies for Compliant Robotic Manipulation. ICML Mrinal Kalakrishnan, Ludovic Righetti, Peter Pastor, Stefan Schaal
2012	A*	`conf`	Probabilistic depth image registration incorporating nonvisual information. ICRA Manuel Wuthrich, Peter Pastor, Ludovic Righetti, Aude Billard, Stefan Schaal
2012	—	`conf`	Quadratic programming for inverse dynamics with optimal distribution of contact forces. Humanoids Ludovic Righetti, Stefan Schaal
2012	A*	`conf`	Template-based learning of grasp selection. ICRA Alexander Herzog, Peter Pastor, Mrinal Kalakrishnan, Ludovic Righetti, Tamim Asfour, Stefan Schaal
2012	—	`conf`	Towards Associative Skill Memories. Humanoids Peter Pastor, Mrinal Kalakrishnan, Ludovic Righetti, Stefan Schaal
2011	—	`conf`	Control of legged robots with optimal distribution of contact forces. Humanoids Ludovic Righetti, Jonas Buchli, Michael N. Mistry, Stefan Schaal
2011	A*	`conf`	Inverse dynamics control of floating-base robots with external constraints: A unified view. ICRA Ludovic Righetti, Jonas Buchli, Michael N. Mistry, Stefan Schaal
2011	A	`conf`	Learning force control policies for compliant manipulation. IROS Mrinal Kalakrishnan, Ludovic Righetti, Peter Pastor, Stefan Schaal
2011	A	`conf`	Learning motion primitive goals for robust manipulation. IROS Freek Stulp, Evangelos A. Theodorou, Mrinal Kalakrishnan, Peter Pastor, Ludovic Righetti, Stefan Schaal
2011	A	`conf`	Online movement adaptation based on previous sensor experiences. IROS Peter Pastor, Ludovic Righetti, Mrinal Kalakrishnan, Stefan Schaal
2011	—	`conf`	Operational Space Control of Constrained and Underactuated Systems. Robotics: Science and Systems Michael N. Mistry, Ludovic Righetti
2011	J	`jnl`	Toward simple control for complex, autonomous robotic applications: combining discrete and rhythmic motor primitives. Auton. Robots Sarah Dégallier, Ludovic Righetti, Sébastien Gay, Auke Jan Ijspeert
2010	—	`conf`	Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion. Humanoids Robert D. Gregg, Ludovic Righetti, Jonas Buchli, Stefan Schaal
2008	—	`—`	Control of legged locomotion using dynamical systems - design methods and adaptive frequency oscillators. Ludovic Righetti
2008	A	`conf`	Experimental study of limit cycle and chaotic controllers for the locomotion of centipede robots. IROS Loic Matthey, Ludovic Righetti, Auke Jan Ijspeert
2008	A*	`conf`	Pattern generators with sensory feedback for the control of quadruped locomotion. ICRA Ludovic Righetti, Auke Jan Ijspeert
2007	A	`conf`	Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach. IROS Sarah Dégallier, Ludovic Righetti, Auke Jan Ijspeert
2007	A	`conf`	Lower body realization of the baby humanoid - 'iCub'. IROS Nikolaos G. Tsagarakis, Francesco Becchi, Ludovic Righetti, Auke Jan Ijspeert, Darwin G. Caldwell
2007	J	`jnl`	iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research. Adv. Robotics Nikolaos G. Tsagarakis, Giorgio Metta, Giulio Sandini, David Vernon, Ricardo Beira, Francesco Becchi, Ludovic Righetti, José Santos-Victor, Auke Jan Ijspeert, Maria Chiara Carrozza, Darwin G. Caldwell
2006	—	`conf`	Design Methodologies for Central Pattern Generators: An Application to Crawling Humanoids. Robotics: Science and Systems Ludovic Righetti, Auke Jan Ijspeert
2006	J	`jnl`	Engineering entrainment and adaptation in limit cycle systems. Biol. Cybern. Jonas Buchli, Ludovic Righetti, Auke Jan Ijspeert
2006	—	`conf`	Movement generation using dynamical systems : a humanoid robot performing a drumming task. Humanoids Sarah Dégallier, Cristina P. Santos, Ludovic Righetti, Auke Jan Ijspeert
2006	A*	`conf`	Programmable Central Pattern Generators: an Application to Biped Locomotion Control. ICRA Ludovic Righetti, Auke Jan Ijspeert
2005	—	`conf`	A Dynamical Systems Approach to Learning: A Frequency-Adaptive Hopper Robot. ECAL Jonas Buchli, Ludovic Righetti, Auke Jan Ijspeert
2004	A	`conf`	Operating System Support for Interface Virtualisation of Reconfigurable Coprocessors. DATE Miljan Vuletic, Ludovic Righetti, Laura Pozzi, Paolo Ienne
2003	—	`conf`	Evolution of Fault-Tolerant Self-Replicating Structures. ECAL Ludovic Righetti, Solaiman Shokur, Mathieu S. Caparrere