87 citations · 256 across the 24 of their papers we have counts for
7 papers · 1 filter
Learning to Manipulate Tools by Aligning Simulation to Video Demonstration
Kateryna Zorina, Justin Carpentier, Josef Sivic +1
A seamless integration of robots into human environments requires robots to learn how to use existing human tools. Current approaches for learning tool manipulation skills mostly r…
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos
Zongmian Li, Jiri Sedlar, Justin Carpentier +3
In this paper, we introduce a method to automatically reconstruct the 3D motion of a person interacting with an object from a single RGB video. Our method estimates the 3D poses of…
Differentiable Rendering with Perturbed Optimizers
Quentin Le Lidec, Ivan Laptev, Cordelia Schmid +1
Reasoning about 3D scenes from their 2D image projections is one of the core problems in computer vision. Solutions to this inverse and ill-posed problem typically involve a search…
Infinite-Dimensional Sums-of-Squares for Optimal Control
Eloïse Berthier, Justin Carpentier, Alessandro Rudi +1
We introduce an approximation method to solve an optimal control problem via the Lagrange dual of its weak formulation. It is based on a sum-of-squares representation of the Hamilt…
Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting
Armand Jordana, Justin Carpentier, Ludovic Righetti
Modeling dynamical systems plays a crucial role in capturing and understanding complex physical phenomena. When physical models are not sufficiently accurate or hardly describable…
Single-view robot pose and joint angle estimation via render & compare
Yann Labbé, Justin Carpentier, Mathieu Aubry +1
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to g…
Exponential Integration for Efficient and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts
Bilal Hammoud, Luca Olivieri, Ludovic Righetti +2
The simulation of multi-body systems with frictional contacts is a fundamental tool for many fields, such as robotics, computer graphics, and mechanics. Hard frictional contacts ar…