58 citations
Counting papers with at most 25 authors, so collaboration author lists do not stand in for the people here.
- Département d'InformatiqueFR8 papers
- Willow Biosciences (Canada)CA6 papers
- École Normale Supérieure - PSLFR5 papers
- Campo Arqueologico de MertolaPT3 papers
- Laboratoire d'Analyse et d'Architecture des SystèmesFR3 papers
- Courant Institute of Mathematical SciencesUS2 papers
- Getty Research InstituteUS2 papers
- Institut national de recherche en sciences et technologies du numériqueFR2 papers
- Laboratoire d'Informatique, de Robotique et de Microélectronique de MontpellierFR2 papers
- Meta (United States)US2 papers
- Carnegie Mellon UniversityUS1 paper
- Czech Technical University in PragueCZ1 paper
18 papers
Optimal transport unlocks end-to-end learning for single-molecule localization
Romain Seailles, Jean-Baptiste Masson, Jean Ponce +1
Single-molecule localization microscopy (SMLM) allows reconstructing biology-relevant structures beyond the diffraction limit by detecting and localizing individual fluorophores --…
On the Conic Complementarity of Planar Contacts
Yann de Mont-Marin, Louis Montaut, Jean Ponce +2
We present a unifying theoretical result that connects two foundational principles in robotics: the Signorini law for point contacts, which underpins many simulation methods for pr…
Dual Perspectives on Non-Contrastive Self-Supervised Learning
Jean Ponce, Basile Terver, Martial Hebert +1
The {\em stop gradient} and {\em exponential moving average} iterative procedures are commonly used in non-contrastive approaches to self-supervised learning to avoid representatio…
Extended URDF: Accounting for parallel mechanism in robot description
Virgile Batto, Ludovic de Matteis, Nicolas Mansard
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter l…
Control of Humanoid Robots with Parallel Mechanisms using Differential Actuation Models
Victor Lutz, Ludovic de Matteis, Virgile Batto +1
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce l…
i-GRIP, a Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices
Etienne Moullet, Justin Carpentier, Christine Azevedo Coste +1
This study describes and evaluates i-GRIP, a novel movement intention estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upper…
A Data-driven Contact Estimation Method for Wheeled-Biped Robots
Ü. Bora Gökbakan, Frederike Dümbgen, Stéphane Caron
Contact estimation is a key ability for limbed robots, where making and breaking contacts has a direct impact on state estimation and balance control. Existing approaches typically…
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…
Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC
Wilson Jallet, Ewen Dantec, Etienne Arlaud +2
Recent strides in nonlinear model predictive control (NMPC) underscore a dependence on numerical advancements to efficiently and accurately solve large-scale problems. Given the su…
Vision-based interface for grasping intention detection and grip selection : towards intuitive upper-limb assistive devices
Etienne Moullet, François Bailly, Justin Carpentier +1
Assistive devices for indivuals with upper-limb movement often lack controllability and intuitiveness, in particular for grasping function. In this work, we introduce a novel user…
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…
On the duality between contrastive and non-contrastive self-supervised learning
Quentin Garrido, Yubei Chen, Adrien Bardes +2
Recent approaches in self-supervised learning of image representations can be categorized into different families of methods and, in particular, can be divided into contrastive and…
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…
Revisiting Classifier Two-Sample Tests
David Lopez-Paz, Maxime Oquab
The goal of two-sample tests is to assess whether two samples, and , are drawn from the same distribution. Perhaps intriguingly, one relatively unexplo…
The Collatz 3n+1 Conjecture is Unprovable
Craig Alan Feinstein
In this paper, we show that any proof of the Collatz 3n+1 Conjecture must have an infinite number of lines; therefore, no formal proof is possible.
Machine-Checked Formalization of Earlier Arguments on versus Using Isabelle/HOL
Craig Alan Feinstein
This letter revisits an earlier argument concerning versus based on the SUBSET-SUM problem and examines its formalization in Isabelle/HOL. The formal dev…
The Riemann Hypothesis is Unprovable
Craig Alan Feinstein
In this note, we give a simple proof that the Riemann Hypothesis is unprovable in any reasonable axiom system.