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ORCIDJustin Carpentier
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2020 – today
- 2024
[j15]Gabriele Fadini
, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea Del Prete, Justin Carpentier, Philippe Souères:
Co-designing versatile quadruped robots for dynamic and energy-efficient motions. Robotica 42(6): 2004-2025 (2024)- [j14]Louis Montaut, Quentin Le Lidec, Vladimír Petrík, Josef Sivic, Justin Carpentier:
GJK++: Leveraging Acceleration Methods for Faster Collision Detection. IEEE Trans. Robotics 40: 2564-2581 (2024) - [j13]Quentin Le Lidec, Justin Carpentier:
Reconciling RaiSim With the Maximum Dissipation Principle. IEEE Trans. Robotics 40: 3638-3641 (2024) - [j12]Quentin Le Lidec, Wilson Jallet, Louis Montaut, Ivan Laptev, Cordelia Schmid, Justin Carpentier:
Contact Models in Robotics: A Comparative Analysis. IEEE Trans. Robotics 40: 3716-3733 (2024) - [c42]Antoine Bambade, Fabian Schramm, Adrien B. Taylor, Justin Carpentier:
Leveraging augmented-Lagrangian techniques for differentiating over infeasible quadratic programs in machine learning. ICLR 2024 - [c41]Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti:
Risk-Sensitive Extended Kalman Filter. ICRA 2024: 10450-10456 - [c40]Armand Jordana, Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti:
Force Feedback Model-Predictive Control via Online Estimation. ICRA 2024: 11503-11509 - [c39]Elisa Alboni, Gianluigi Grandesso, Gastone Pietro Rosati Papini, Justin Carpentier, Andrea Del Prete:
CACTO-SL: Using Sobolev learning to improve continuous actor-critic with trajectory optimization. L4DC 2024: 1452-1463 - [c38]Etienne Ménager, Alexandre Bilger, Wilson Jallet, Justin Carpentier, Christian Duriez:
Condensed Semi-Implicit Dynamics for Trajectory Optimization in Soft Robotics. RoboSoft 2024: 808-815 - [i26]Wilson Jallet, Ewen Dantec, Etienne Arlaud, Justin Carpentier, Nicolas Mansard:
Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC. CoRR abs/2405.09197 (2024) - [i25]Justin Carpentier, Louis Montaut, Quentin Le Lidec:
From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach. CoRR abs/2405.17020 (2024) - [i24]Quentin Le Lidec, Louis Montaut, Yann de Mont-Marin, Justin Carpentier:
End-to-End and Highly-Efficient Differentiable Simulation for Robotics. CoRR abs/2409.07107 (2024) - 2023
- [c37]Oumayma Bounou, Jean Ponce, Justin Carpentier:
Leveraging Proximal Optimization for Differentiating Optimal Control Solvers. CDC 2023: 6313-6320 - [c36]Quentin Le Lidec, Wilson Jallet, Ivan Laptev, Cordelia Schmid, Justin Carpentier:
Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control. ICRA 2023: 946-952 - [c35]Louis Montaut, Quentin Le Lidec, Antoine Bambade, Vladimír Petrík, Josef Sivic, Justin Carpentier:
Differentiable Collision Detection: a Randomized Smoothing Approach. ICRA 2023: 3240-3246 - [c34]Kateryna Zorina, David Kovár, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimír Petrík:
Multi-Contact Task and Motion Planning Guided by Video Demonstration. ICRA 2023: 3764-3770 - [c33]Melya Boukheddimi, Rohit Kumar, Shivesh Kumar, Justin Carpentier, Frank Kirchner:
Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid Using Whole Body Trajectory Optimization. IROS 2023: 10433-10439 - [i23]Quentin Le Lidec, Wilson Jallet, Louis Montaut, Ivan Laptev, Cordelia Schmid, Justin Carpentier:
Contact Models in Robotics: a Comparative Analysis. CoRR abs/2304.06372 (2023) - [i22]Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti:
Risk-Sensitive Extended Kalman Filter. CoRR abs/2305.11573 (2023) - [i21]Elisa Alboni, Gianluigi Grandesso, Gastone Pietro Rosati Papini, Justin Carpentier, Andrea Del Prete:
CACTO-SL: Using Sobolev Learning to improve Continuous Actor-Critic with Trajectory Optimization. CoRR abs/2312.10666 (2023) - 2022
- [j11]Armand Jordana, Bilal Hammoud, Justin Carpentier, Ludovic Righetti:
Stagewise Newton Method for Dynamic Game Control With Imperfect State Observation. IEEE Control. Syst. Lett. 6: 3241-3246 (2022) - [j10]Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic:
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. Int. J. Comput. Vis. 130(2): 363-383 (2022) - [j9]Kateryna Zorina, Justin Carpentier, Josef Sivic, Vladimír Petrík:
Learning to Manipulate Tools by Aligning Simulation to Video Demonstration. IEEE Robotics Autom. Lett. 7(1): 438-445 (2022) - [c32]Eloïse Berthier, Justin Carpentier, Alessandro Rudi, Francis R. Bach:
Infinite-Dimensional Sums-of-Squares for Optimal Control. CDC 2022: 577-582 - [c31]Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic:
MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare. CoRL 2022: 715-725 - [c30]Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti:
On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos. Humanoids 2022: 512-517 - [c29]Wilson Jallet, Nicolas Mansard, Justin Carpentier:
Implicit Differential Dynamic Programming. ICRA 2022: 1455-1461 - [c28]Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier:
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. IROS 2022: 13371-13378 - [c27]Antoine Bambade, Sarah El Kazdadi, Adrien B. Taylor, Justin Carpentier:
PROX-QP: Yet another Quadratic Programming Solver for Robotics and beyond. Robotics: Science and Systems 2022 - [c26]Louis Montaut, Quentin Le Lidec, Vladimír Petrík, Josef Sivic, Justin Carpentier:
Collision Detection Accelerated: An Optimization Perspective. Robotics: Science and Systems 2022 - [i20]Quentin Le Lidec, Louis Montaut, Cordelia Schmid, Ivan Laptev, Justin Carpentier:
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems. CoRR abs/2203.03986 (2022) - [i19]Louis Montaut, Quentin Le Lidec, Vladimír Petrík, Josef Sivic, Justin Carpentier:
Collision Detection Accelerated: An Optimization Perspective. CoRR abs/2205.09663 (2022) - [i18]Quentin Le Lidec, Louis Montaut, Cordelia Schmid, Ivan Laptev, Justin Carpentier:
Augmenting differentiable physics with randomized smoothing. CoRR abs/2206.11884 (2022) - [i17]Quentin Le Lidec, Wilson Jallet, Ivan Laptev, Cordelia Schmid, Justin Carpentier:
Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control. CoRR abs/2209.09006 (2022) - [i16]Louis Montaut, Quentin Le Lidec, Antoine Bambade, Vladimír Petrík, Josef Sivic, Justin Carpentier:
Differentiable Collision Detection: a Randomized Smoothing Approach. CoRR abs/2209.09012 (2022) - [i15]Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier:
ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond. CoRR abs/2210.02109 (2022) - [i14]Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier:
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. CoRR abs/2210.15409 (2022) - [i13]Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic:
MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare. CoRR abs/2212.06870 (2022) - 2021
- [j8]Quentin Le Lidec, Igor Kalevatykh, Ivan Laptev, Cordelia Schmid, Justin Carpentier:
Differentiable Simulation for Physical System Identification. IEEE Robotics Autom. Lett. 6(2): 3413-3420 (2021) - [c25]Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic:
Single-View Robot Pose and Joint Angle Estimation via Render & Compare. CVPR 2021: 1654-1663 - [c24]Eloïse Berthier, Justin Carpentier, Francis R. Bach:
Fast and Robust Stability Region Estimation for Nonlinear Dynamical Systems. ECC 2021: 1412-1419 - [c23]Thibault Noël, Thomas Flayols, Joseph Mirabel, Justin Carpentier, Nicolas Mansard:
A Hybrid Collision Model for Safety Collision Control. ICRA 2021: 1722-1728 - [c22]François Bailly, Justin Carpentier, Philippe Souères:
Optimal Estimation of the Centroidal Dynamics of Legged Robots. ICRA 2021: 4912-4918 - [c21]Sarah El Kazdadi, Justin Carpentier, Jean Ponce:
Equality Constrained Differential Dynamic Programming. ICRA 2021: 8053-8059 - [c20]Quentin Le Lidec, Ivan Laptev, Cordelia Schmid, Justin Carpentier:
Differentiable rendering with perturbed optimizers. NeurIPS 2021: 20398-20409 - [c19]Oumayma Bounou, Jean Ponce, Justin Carpentier:
Online Learning and Control of Complex Dynamical Systems from Sensory Input. NeurIPS 2021: 27852-27864 - [c18]Justin Carpentier, Rohan Budhiraja, Nicolas Mansard:
Proximal and Sparse Resolution of Constrained Dynamic Equations. Robotics: Science and Systems 2021 - [i12]Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete:
Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts. CoRR abs/2101.06846 (2021) - [i11]Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic:
Single-view robot pose and joint angle estimation via render & compare. CoRR abs/2104.09359 (2021) - [i10]Armand Jordana, Justin Carpentier, Ludovic Righetti:
Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting. CoRR abs/2106.11712 (2021) - [i9]Quentin Le Lidec, Ivan Laptev, Cordelia Schmid, Justin Carpentier:
Differentiable Rendering with Perturbed Optimizers. CoRR abs/2110.09107 (2021) - [i8]Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic:
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. CoRR abs/2111.01591 (2021) - [i7]Kateryna Zorina, Justin Carpentier, Josef Sivic, Vladimír Petrík:
Learning to Manipulate Tools by Aligning Simulation to Video Demonstration. CoRR abs/2111.03088 (2021) - 2020
- [j7]Yann Labbé, Sergey Zagoruyko, Igor Kalevatykh, Ivan Laptev, Justin Carpentier, Mathieu Aubry, Josef Sivic:
Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning. IEEE Robotics Autom. Lett. 5(2): 3715-3722 (2020) - [j6]Pierre Fernbach, Steve Tonneau, Olivier Stasse, Justin Carpentier, Michel Taïx:
C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios. IEEE Trans. Robotics 36(3): 676-691 (2020) - [c17]Robin Strudel, Ricardo Garcia, Justin Carpentier, Jean-Paul Laumond, Ivan Laptev, Cordelia Schmid:
Learning Obstacle Representations for Neural Motion Planning. CoRL 2020: 355-364 - [c16]Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic:
CosyPose: Consistent Multi-view Multi-object 6D Pose Estimation. ECCV (17) 2020: 574-591 - [c15]Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard:
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA 2020: 2536-2542 - [i6]Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic:
CosyPose: Consistent multi-view multi-object 6D pose estimation. CoRR abs/2008.08465 (2020) - [i5]Robin Strudel, Ricardo Garcia, Justin Carpentier, Jean-Paul Laumond, Ivan Laptev, Cordelia Schmid:
Learning Obstacle Representations for Neural Motion Planning. CoRR abs/2008.11174 (2020)
2010 – 2019
- 2019
- [j5]François Bailly, Justin Carpentier, Mehdi Benallegue, Bruno Watier, Philippe Souères:
Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion - A Recursive Approach. IEEE Robotics Autom. Lett. 4(4): 4155-4162 (2019) - [c14]Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic:
Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video. CVPR 2019: 8640-8649 - [c13]Rohan Budhiraja, Justin Carpentier, Nicolas Mansard:
Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots. ICRA 2019: 6727-6733 - [c12]Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, Olivier Stasse, Nicolas Mansard:
The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. SII 2019: 614-619 - [i4]Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic:
Estimating 3D Motion and Forces of Person-Object Interactions from Monocular Video. CoRR abs/1904.02683 (2019) - [i3]Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard:
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. CoRR abs/1904.05072 (2019) - [i2]Sergey Zagoruyko, Yann Labbé, Igor Kalevatykh, Ivan Laptev, Justin Carpentier, Mathieu Aubry, Josef Sivic:
Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning. CoRR abs/1904.10348 (2019) - [i1]Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard:
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. CoRR abs/1909.04947 (2019) - 2018
- [j4]Justin Carpentier, Nicolas Mansard:
Multicontact Locomotion of Legged Robots. IEEE Trans. Robotics 34(6): 1441-1460 (2018) - [c11]François Bailly, Justin Carpentier, Bertr Pinet, Philippe Souères, Bruno Watier:
A Mechanical Descriptor of Human Locomotion and its Application to Multi-Contact Walking in Humanoids. BioRob 2018: 350-356 - [c10]Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard:
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. Humanoids 2018: 1-9 - [c9]Justin Carpentier, Nicolas Mansard:
Analytical Derivatives of Rigid Body Dynamics Algorithms. Robotics: Science and Systems 2018 - 2017
- [b1]Justin Carpentier:
Fondements calculatoires de la locomotion anthropomorphe. (Computational foundations of anthropomorphic locomotion). Paul Sabatier University, Toulouse, France, 2017 - [j3]Justin Carpentier, Mehdi Benallegue, Jean-Paul Laumond:
On the centre of mass motion in human walking. Int. J. Autom. Comput. 14(5): 542-551 (2017) - [j2]Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz:
The Yoyo-Man. Int. J. Robotics Res. 36(13-14): 1508-1520 (2017) - [c8]Olivier Stasse, Thomas Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, Andrea Del Prete, Philippe Souères, Nicolas Mansard, Florent Lamiraux, Jean-Paul Laumond, Luca Marchionni, Hilario Tome, Francesco Ferro:
TALOS: A new humanoid research platform targeted for industrial applications. Humanoids 2017: 689-695 - [c7]Gabriele Buondonno, Justin Carpentier, Guilhem Saurel, Nicolas Mansard, Alessandro De Luca, Jean-Paul Laumond:
Actuator design of compliant walkers via optimal control. IROS 2017: 705-711 - [c6]Justin Carpentier, Rohan Budhiraja, Nicolas Mansard:
Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots. Robotics: Science and Systems 2017 - 2016
- [j1]Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond:
Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach. IEEE Trans. Robotics 32(4): 810-822 (2016) - [c5]Justin Carpentier, Steve Tonneau, Maximilien Naveau, Olivier Stasse, Nicolas Mansard:
A versatile and efficient pattern generator for generalized legged locomotion. ICRA 2016: 3555-3561 - [c4]Guilhem Saurel, Justin Carpentier, Nicolas Mansard, Jean-Paul Laumond:
A simulation framework for simultaneous design and control of passivity based walkers. SIMPAR 2016: 104-110 - 2015
- [c3]Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond:
A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach. Humanoids 2015: 1121-1126 - [c2]Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz:
The Yoyo-Man. ISRR (2) 2015: 217-233 - 2014
- [c1]Maximilien Naveau, Justin Carpentier, S. Barthelemy, Olivier Stasse, Philippe Souères:
METAPOD - Template META-programming applied to dynamics: CoP-CoM trajectories filtering. Humanoids 2014: 401-406
Coauthor Index
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