4 citations · 11 across the 9 of their papers we have counts for
9 papers · 1 filter
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…
Differentiable Simulation of Soft Robots with Frictional Contacts
Etienne Ménager, Louis Montaut, Quentin Le Lidec +1
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and act…
Highly-Efficient Differentiable Simulation for Robotics
Quentin Le Lidec, Louis Montaut, Yann de Mont-Marin +3
Robotics simulators have improved significantly in computational speed and scalability, enabling them to generate years of simulated data for complex systems in minutes or hours. D…
From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach
Justin Carpentier, Louis Montaut, Quentin Le Lidec
Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenom…
Contact Models in Robotics: a Comparative Analysis
Quentin Le Lidec, Wilson Jallet, Louis Montaut +3
Physics simulation is ubiquitous in robotics. Whether in model-based approaches (e.g., trajectory optimization), or model-free algorithms (e.g., reinforcement learning), physics si…
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…
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…
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…