1 citations · 1 across the 4 of their papers we have counts for
6 papers
OTRetarget: Joint Robot and Object Motion Retargeting via Optimal Transport
Guillaume Besset, Erwann Carn, Timothée Carecchio +5
Transferring human motion to humanoid robots requires adapting the demonstrated motion to the robot morphology while preserving interactions with the environment. This is particula…
Frictional Contact Solving for Material Point Method
Etienne Ménager, Justin Carpentier
Accurately handling contact with friction remains a core bottleneck for Material Point Method (MPM), from reliable contact point detection to enforcing frictional contact laws (non…
Combined Constrained Sampling and Reinforcement Learning for Robotic Manipulation
Marc Toussaint, Cornelius V. Braun, Armand Jordana +5
Training non-prehensile manipulation policies in contact-rich settings is a core challenge in robotics. While Reinforcement Learning (RL) has demonstrated its strength in such sett…
Optimal Control of Walkers with Parallel Actuation
Ludovic de Matteis, Virgile Batto, Justin Carpentier +1
Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain…
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…