4 citations · 7 across the 8 of their papers we have counts for
4 papers · 1 filter
Gradient based Bilevel for Inverse Optimal Control, a Riemannian approach
Ahmed-Manaf Dahmani, Vincent Bonnet, David Daney +1
Inverse Optimal Control (IOC) aims to recover the cost function that explains observed trajectories as solutions of an optimal control problem. Classical IOC formulations rely on b…
COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments
Ege Gursoy, Maxime Sabbah, Arthur Haffemayer +5
Ensuring safe physical interaction between torque-controlled manipulators and humans is essential for deploying robots in everyday environments. Model Predictive Control (MPC) has…
Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring
Krzysztof Wojciechowski, Ege Gursoy, Arthur Haffemayer +4
Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industr…
Toward Global Intent Inference for Human Motion by Inverse Reinforcement Learning
Sarmad Mehrdad, Maxime Sabbah, Vincent Bonnet +1
This paper investigates whether a single, unified cost function can explain and predict human reaching movements, in contrast with existing approaches that rely on subject- or post…