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05/19/2023
Risk-Sensitive Extended Kalman Filter
In robotics, designing robust algorithms in the face of estimation uncer...
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04/13/2023
Contact Models in Robotics: a Comparative Analysis
Physics simulation is ubiquitous in robotics. Whether in model-based app...
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12/13/2022
MegaPose: 6D Pose Estimation of Novel Objects via Render Compare
We introduce MegaPose, a method to estimate the 6D pose of novel objects...
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10/27/2022
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach
Trajectory optimization is an efficient approach for solving optimal con...
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10/05/2022
ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond
Mathematical optimization is the workhorse behind several aspects of mod...
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09/19/2022
Differentiable Collision Detection: a Randomized Smoothing Approach
Collision detection appears as a canonical operation in a large range of...
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09/19/2022
Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control
Reinforcement learning (RL) and trajectory optimization (TO) present str...
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06/23/2022
Augmenting differentiable physics with randomized smoothing
In the past few years, following the differentiable programming paradigm...
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05/19/2022
Collision Detection Accelerated: An Optimization Perspective
Collision detection between two convex shapes is an essential feature of...
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03/08/2022
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems
Optimal control (OC) algorithms such as Differential Dynamic Programming...
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11/04/2021
Learning to Manipulate Tools by Aligning Simulation to Video Demonstration
A seamless integration of robots into human environments requires robots...
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11/02/2021
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos
In this paper, we introduce a method to automatically reconstruct the 3D...
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10/18/2021
Differentiable Rendering with Perturbed Optimizers
Reasoning about 3D scenes from their 2D image projections is one of the ...
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06/22/2021
Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting
Modeling dynamical systems plays a crucial role in capturing and underst...
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04/19/2021
Single-view robot pose and joint angle estimation via render compare
We introduce RoboPose, a method to estimate the joint angles and the 6D ...
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01/18/2021
Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts
The simulation of multi-body systems with frictional contacts is a funda...
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08/25/2020
Learning Obstacle Representations for Neural Motion Planning
Motion planning and obstacle avoidance is a key challenge in robotics ap...
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08/19/2020
CosyPose: Consistent multi-view multi-object 6D pose estimation
We introduce an approach for recovering the 6D pose of multiple known ob...
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09/11/2019
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Li...
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04/23/2019
Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning
In this paper, we address the problem of visually guided rearrangement p...
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04/10/2019
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics
A common strategy today to generate efficient locomotion movements is to...
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04/04/2019