11 citations
4 papers
A Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices
Etienne Moullet, François Bailly, Justin Carpentier +1
This study introduces i-GRIP, an innovative movement goal estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upperlimb impairm…
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach
Wilson Jallet, Antoine Bambade, Nicolas Mansard +1
Trajectory optimization is an efficient approach for solving optimal control problems for complex robotic systems. It relies on two key components: first the transcription into a s…
ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond
Wilson Jallet, Antoine Bambade, Nicolas Mansard +1
Mathematical optimization is the workhorse behind several aspects of modern robotics and control. In these applications, the focus is on constrained optimization, and the ability t…
Residual Reinforcement Learning from Demonstrations
Minttu Alakuijala, Gabriel Dulac-Arnold, Julien Mairal +2
Residual reinforcement learning (RL) has been proposed as a way to solve challenging robotic tasks by adapting control actions from a conventional feedback controller to maximize a…