Simon Le Cleac'h

24 papers C 1Misc 1Journal 21Unranked 1

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Generative Models From and for Sampling-Based MPC: A Bootstrapped Approach for Adaptive Contact-Rich Manipulation. IEEE Robotics Autom. Lett. Lara Brudermüller, Brandon Hung, Xinghao Zhu, Jiuguang Wang, Nick Hawes, Preston Culbertson, Simon Le Cleac'h
2025	J	`jnl`	Generative Models From and For Sampling-Based MPC: A Bootstrapped Approach For Adaptive Contact-Rich Manipulation. CoRR Lara Brudermüller, Brandon Hung, Xinghao Zhu, Jiuguang Wang, Nick Hawes, Preston Culbertson, Simon Le Cleac'h
2025	J	`jnl`	Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control. CoRR Albert H. Li, Brandon Hung, Aaron D. Ames, Jiuguang Wang, Simon Le Cleac'h, Preston Culbertson
2025	J	`jnl`	Versatile Loco-Manipulation through Flexible Interlimb Coordination. CoRR Xinghao Zhu, Yuxin Chen, Lingfeng Sun, Farzad Niroui, Simon Le Cleac'h, Jiuguang Wang, Kuan Fang
2024	J	`jnl`	Fast Contact-Implicit Model Predictive Control. IEEE Trans. Robotics Simon Le Cleac'h, Taylor A. Howell, Shuo Yang, Chi-Yen Lee, John Z. Zhang, Arun L. Bishop, Mac Schwager, Zachary Manchester
2024	Misc	`conf`	Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation. CoRL Jan Brüdigam, Ali-Adeeb Abbas, Maks Sorokin, Kuan Fang, Brandon Hung, Maya Guru, Stefan Sosnowski, Jiuguang Wang, Sandra Hirche, Simon Le Cleac'h
2024	J	`jnl`	Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation. CoRR Jan Brüdigam, Ali-Adeeb Abbas, Maks Sorokin, Kuan Fang, Brandon Hung, Maya Guru, Stefan Sosnowski, Jiuguang Wang, Sandra Hirche, Simon Le Cleac'h
2023	J	`jnl`	Differentiable Physics Simulation of Dynamics-Augmented Neural Objects. IEEE Robotics Autom. Lett. Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo, Taylor A. Howell, Ruohan Gao, Jiajun Wu, Zachary Manchester, Mac Schwager
2023	J	`jnl`	Single-Level Differentiable Contact Simulation. IEEE Robotics Autom. Lett. Simon Le Cleac'h, Mac Schwager, Zachary Manchester, Vikas Sindhwani, Pete Florence, Sumeet Singh
2022	J	`jnl`	ALGAMES: a fast augmented Lagrangian solver for constrained dynamic games. Auton. Robots Simon Le Cleac'h, Mac Schwager, Zachary Manchester
2022	C	`conf`	CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints. ISRR Taylor A. Howell, Kevin Tracy, Simon Le Cleac'h, Zachary Manchester
2022	J	`jnl`	CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints. CoRR Taylor A. Howell, Simon Le Cleac'h, Kevin Tracy, Zachary Manchester
2022	J	`jnl`	Differentiable Physics Simulation of Dynamics-Augmented Neural Objects. CoRR Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo, Taylor A. Howell, Ruohan Gao, Jiajun Wu, Zachary Manchester, Mac Schwager
2022	J	`jnl`	Dojo: A Differentiable Simulator for Robotics. CoRR Taylor A. Howell, Simon Le Cleac'h, J. Zico Kolter, Mac Schwager, Zachary Manchester
2022	J	`jnl`	Single-Level Differentiable Contact Simulation. CoRR Simon Le Cleac'h, Mac Schwager, Zachary Manchester, Vikas Sindhwani, Pete Florence, Sumeet Singh
2022	J	`jnl`	Trajectory Optimization with Optimization-Based Dynamics. IEEE Robotics Autom. Lett. Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh, Peter R. Florence, Zachary Manchester, Vikas Sindhwani
2021	J	`jnl`	ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games. CoRR Simon Le Cleac'h, Mac Schwager, Zachary Manchester
2021	J	`jnl`	LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning. IEEE Robotics Autom. Lett. Simon Le Cleac'h, Mac Schwager, Zachary Manchester
2021	J	`jnl`	Linear Contact-Implicit Model-Predictive Control. CoRR Simon Le Cleac'h, Taylor A. Howell, Mac Schwager, Zachary Manchester
2021	J	`jnl`	Trajectory Optimization with Optimization-Based Dynamics. CoRR Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh, Pete Florence, Zachary Manchester, Vikas Sindhwani
2020	—	`conf`	ALGAMES: A Fast Solver for Constrained Dynamic Games. Robotics: Science and Systems Simon Le Cleac'h, Mac Schwager, Zachary Manchester
2020	J	`jnl`	LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning. CoRR Simon Le Cleac'h, Mac Schwager, Zachary Manchester
2020	J	`jnl`	Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels. CoRR Remy Derollez, Simon Le Cleac'h, Zachary Manchester
2019	J	`jnl`	ALGAMES: A Fast Solver for Constrained Dynamic Games. CoRR Simon Le Cleac'h, Mac Schwager, Zachary Manchester