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05/15/2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Real-time synthesis of legged locomotion maneuvers in challenging indust...
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10/27/2022
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach
Trajectory optimization is an efficient approach for solving optimal con...
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10/05/2022
ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond
Mathematical optimization is the workhorse behind several aspects of mod...
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11/02/2021
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos
In this paper, we introduce a method to automatically reconstruct the 3D...
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11/19/2020
Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization
One challenge of legged locomotion on uneven terrains is to deal with bo...
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10/01/2020
A Direct-Indirect Hybridization Approach to Control-Limited DDP
Optimal control is a widely used tool for synthesizing motions and contr...
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01/31/2020
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion
In this paper, we propose a framework to build a memory of motion to war...
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09/19/2019
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
One of the main challenges of planning legged locomotion in complex envi...
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09/11/2019
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Li...
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04/10/2019
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics
A common strategy today to generate efficient locomotion movements is to...
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04/04/2019