2025
PROXDDP: Proximal Constrained Trajectory Optimization
Jallet, Wilson and Bambade, Antoine and Arlaud, Etienne and El-Kazdadi, Sarah and Mansard, Nicolas and Carpentier, Justin, in IEEE Transactions on Robotics, vol. 41, pp. 2605—2624, March 2025. DOI: 10.1109/TRO.2025.3554437
2024
Condensed Semi-Implicit Dynamics for Trajectory Optimization in Soft Robotics
Ménager, Etienne and Bilger, Alexandre and Jallet, Wilson and Carpentier, Justin and Duriez, Christian, in IEEE International Conference on Soft Robotics (RoboSoft), San Diego (CA), United States, 2024. DOI: 10.1109/RoboSoft60065.2024.10521997
Contact Models in Robotics: A Comparative Analysis
Le Lidec, Quentin and Jallet, Wilson and Montaut, Louis and Laptev, Ivan and Schmid, Cordelia and Carpentier, Justin, in IEEE Transactions on Robotics, vol. 40, pp. 3716—3733, 2024. DOI: 10.1109/TRO.2024.3434208
Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC
Jallet, Wilson and Dantec, Ewen and Arlaud, Etienne and Mansard, Nicolas and Carpentier, Justin, in Proceedings of Robotics: Science and Systems, Delft, Netherlands, 2024. DOI: 10.15607/RSS.2024.XX.002
From Centroidal to Whole-Body Models for Legged Locomotion: A Comparative Analysis
Dantec, Ewen and Jallet, Wilson and Carpentier, Justin, in 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), Nancy, France, pp. 335—342, 2024. DOI: 10.1109/Humanoids58906.2024.10769597
2023
Enforcing the Consensus between Trajectory Optimization and Policy Learning for Precise Robot Control
Le Lidec, Quentin and Jallet, Wilson and Laptev, Ivan and Schmid, Cordelia and Carpentier, Justin, in 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 946—952, 2023. DOI: 10.1109/ICRA48891.2023.10160387
2022
ProxNLP: A Primal-Dual Augmented Lagrangian Solver for Nonlinear Programming in Robotics and Beyond
Jallet, Wilson and Bambade, Antoine and Mansard, Nicolas and Carpentier, Justin, in 6th Workshop on Legged Robots, Philadelphia, Pennsylvania, United States, 2022.
Implicit Differential Dynamic Programming
Jallet, Wilson and Mansard, Nicolas and Carpentier, Justin, in 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, United States, 2022. DOI: 10.1109/ICRA46639.2022.9811647
Constrained Differential Dynamic Programming: A Primal-Dual Augmented Lagrangian Approach
Jallet, Wilson and Bambade, Antoine and Mansard, Nicolas and Carpentier, Justin, in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, 2022. DOI: 10.1109/IROS47612.2022.9981586