output
20032025
most citedRevisiting Classifier Two-Sample Tests

58 citations

researchers with a paper here

Counting papers with at most 25 authors, so collaboration author lists do not stand in for the people here.

collaborating institutions
Showing cs.ROShow all

7 papers · 1 filter

cs.RO2025

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…

cs.RO2025

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…

cs.RO2025★ 1 cited

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…

cs.RO2024

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…

cs.RO2024

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…

cs.RO2022

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…

cs.RO2022★ 1 cited

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…