Enforcing the Consensus between Trajectory Optimization and Policy Learning for Precise Robot Control

Lidec, Quentin Le and Jallet, Wilson and Laptev, Ivan and Schmid, Cordelia and Carpentier, Justin. 2023 IEEE International Conference on Robotics and Automation (ICRA).

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.

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. 6th Legged Robots Workshop.

Implicit Differential Dynamic Programming

Jallet, Wilson and Mansard, Nicolas and Carpentier, Justin. 2022 International Conference on Robotics and Automation (ICRA).

Constrained Differential Dynamic Programming: A Primal-Dual Augmented Lagrangian Approach

Jallet, Wilson and Bambade, Antoine and Mansard, Nicolas and Carpentier, Justin. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems.