87 citations · 256 across the 24 of their papers we have counts for
9 papers · 1 filter
MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare
Yann Labbé, Lucas Manuelli, Arsalan Mousavian +7
We introduce MegaPose, a method to estimate the 6D pose of novel objects, that is, objects unseen during training. At inference time, the method only assumes knowledge of (i) a reg…
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…
Differentiable Collision Detection: a Randomized Smoothing Approach
Louis Montaut, Quentin Le Lidec, Antoine Bambade +3
Collision detection appears as a canonical operation in a large range of robotics applications from robot control to simulation, including motion planning and estimation. While the…
Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control
Quentin Le Lidec, Wilson Jallet, Ivan Laptev +2
Reinforcement learning (RL) and trajectory optimization (TO) present strong complementary advantages. On one hand, RL approaches are able to learn global control policies directly…
Augmenting differentiable physics with randomized smoothing
Quentin Le Lidec, Louis Montaut, Cordelia Schmid +2
In the past few years, following the differentiable programming paradigm, there has been a growing interest in computing the gradient information of physical processes (e.g., physi…
Stagewise Newton Method for Dynamic Game Control with Imperfect State Observation
Armand Jordana, Bilal Hammoud, Justin Carpentier +1
In this letter, we study dynamic game optimal control with imperfect state observations and introduce an iterative method to find a local Nash equilibrium. The algorithm consists o…
Collision Detection Accelerated: An Optimization Perspective
Louis Montaut, Quentin Le Lidec, Vladimir Petrik +2
Collision detection between two convex shapes is an essential feature of any physics engine or robot motion planner. It has often been tackled as a computational geometry problem,…
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems
Quentin Le Lidec, Fabian Schramm, Louis Montaut +3
Optimal control (OC) algorithms such as Differential Dynamic Programming (DDP) take advantage of the derivatives of the dynamics to efficiently control physical systems. Yet, in th…