Justin Carpentier

ORCID

Publication Activity (10 Years)

Years Active: 2014-2024
Publications (10 Years): 78

Top Venues

Paul Sabatier University, Toulouse, France (PHD)

Education History

Paul Sabatier University, Toulouse, France

PHD

Publications

Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti
Risk-Sensitive Extended Kalman Filter. ICRA (2024)
Antoine Bambade, Fabian Schramm, Adrien B. Taylor, Justin Carpentier
Leveraging augmented-Lagrangian techniques for differentiating over infeasible quadratic programs in machine learning. ICLR (2024)
Armand Jordana, Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
Force Feedback Model-Predictive Control via Online Estimation. ICRA (2024)
Quentin Le Lidec, Wilson Jallet, Louis Montaut, Ivan Laptev, Cordelia Schmid, Justin Carpentier
Contact Models in Robotics: A Comparative Analysis. IEEE Trans. Robotics 40 (2024)
Quentin Le Lidec, Justin Carpentier
Reconciling RaiSim With the Maximum Dissipation Principle. IEEE Trans. Robotics 40 (2024)
Louis Montaut, Quentin Le Lidec, Vladimír Petrík, Josef Sivic, Justin Carpentier
GJK++: Leveraging Acceleration Methods for Faster Collision Detection. IEEE Trans. Robotics 40 (2024)
Wilson Jallet, Ewen Dantec, Etienne Arlaud, Justin Carpentier, Nicolas Mansard
Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC. CoRR (2024)
Justin Carpentier, Louis Montaut, Quentin Le Lidec
From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach. CoRR (2024)
Etienne Ménager, Alexandre Bilger, Wilson Jallet, Justin Carpentier, Christian Duriez
Condensed Semi-Implicit Dynamics for Trajectory Optimization in Soft Robotics. RoboSoft (2024)
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)
Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti
Risk-Sensitive Extended Kalman Filter. CoRR (2023)
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)
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 (2023)
Quentin Le Lidec, Wilson Jallet, Louis Montaut, Ivan Laptev, Cordelia Schmid, Justin Carpentier
Contact Models in Robotics: a Comparative Analysis. CoRR (2023)
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)
Oumayma Bounou, Jean Ponce, Justin Carpentier
Leveraging Proximal Optimization for Differentiating Optimal Control Solvers. CDC (2023)
Louis Montaut, Quentin Le Lidec, Antoine Bambade, Vladimír Petrík, Josef Sivic, Justin Carpentier
Differentiable Collision Detection: a Randomized Smoothing Approach. ICRA (2023)
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)
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)
Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. IROS (2022)
Louis Montaut, Quentin Le Lidec, Vladimír Petrík, Josef Sivic, Justin Carpentier
Collision Detection Accelerated: An Optimization Perspective. CoRR (2022)
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 (2022)
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 (2022)
Quentin Le Lidec, Louis Montaut, Cordelia Schmid, Ivan Laptev, Justin Carpentier
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems. CoRR (2022)
Quentin Le Lidec, Louis Montaut, Cordelia Schmid, Ivan Laptev, Justin Carpentier
Augmenting differentiable physics with randomized smoothing. CoRR (2022)
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)
Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. CoRR (2022)
Armand Jordana, Bilal Hammoud, Justin Carpentier, Ludovic Righetti
Stagewise Newton Method for Dynamic Game Control With Imperfect State Observation. IEEE Control. Syst. Lett. 6 (2022)
Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier
ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond. CoRR (2022)
Louis Montaut, Quentin Le Lidec, Vladimír Petrík, Josef Sivic, Justin Carpentier
Collision Detection Accelerated: An Optimization Perspective. Robotics: Science and Systems (2022)
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) (2022)
Kateryna Zorina, Justin Carpentier, Josef Sivic, Vladimír Petrík
Learning to Manipulate Tools by Aligning Simulation to Video Demonstration. IEEE Robotics Autom. Lett. 7 (1) (2022)
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)
Eloïse Berthier, Justin Carpentier, Alessandro Rudi, Francis R. Bach
Infinite-Dimensional Sums-of-Squares for Optimal Control. CDC (2022)
Louis Montaut, Quentin Le Lidec, Antoine Bambade, Vladimir Petrík, Josef Sivic, Justin Carpentier
Differentiable Collision Detection: a Randomized Smoothing Approach. CoRR (2022)
Wilson Jallet, Nicolas Mansard, Justin Carpentier
Implicit Differential Dynamic Programming. ICRA (2022)
Armand Jordana, Justin Carpentier, Ludovic Righetti
Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting. CoRR (2021)
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 (2021)
Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic
Single-View Robot Pose and Joint Angle Estimation via Render & Compare. CVPR (2021)
Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic
Single-view robot pose and joint angle estimation via render & compare. CoRR (2021)
Oumayma Bounou, Jean Ponce, Justin Carpentier
Online Learning and Control of Complex Dynamical Systems from Sensory Input. NeurIPS (2021)
Thibault Noël, Thomas Flayols, Joseph Mirabel, Justin Carpentier, Nicolas Mansard
A Hybrid Collision Model for Safety Collision Control. ICRA (2021)
Quentin Le Lidec, Igor Kalevatykh, Ivan Laptev, Cordelia Schmid, Justin Carpentier
Differentiable Simulation for Physical System Identification. IEEE Robotics Autom. Lett. 6 (2) (2021)
François Bailly, Justin Carpentier, Philippe Souères
Optimal Estimation of the Centroidal Dynamics of Legged Robots. ICRA (2021)
Kateryna Zorina, Justin Carpentier, Josef Sivic, Vladimír Petrík
Learning to Manipulate Tools by Aligning Simulation to Video Demonstration. CoRR (2021)
Justin Carpentier, Rohan Budhiraja, Nicolas Mansard
Proximal and Sparse Resolution of Constrained Dynamic Equations. Robotics: Science and Systems (2021)
Quentin Le Lidec, Ivan Laptev, Cordelia Schmid, Justin Carpentier
Differentiable Rendering with Perturbed Optimizers. CoRR (2021)
Sarah El Kazdadi, Justin Carpentier, Jean Ponce
Equality Constrained Differential Dynamic Programming. ICRA (2021)
Quentin Le Lidec, Ivan Laptev, Cordelia Schmid, Justin Carpentier
Differentiable rendering with perturbed optimizers. NeurIPS (2021)
Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete
Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts. CoRR (2021)
Eloïse Berthier, Justin Carpentier, Francis R. Bach
Fast and Robust Stability Region Estimation for Nonlinear Dynamical Systems. ECC (2021)
Robin Strudel, Ricardo Garcia Pinel, Justin Carpentier, Jean-Paul Laumond, Ivan Laptev, Cordelia Schmid
Learning Obstacle Representations for Neural Motion Planning. CoRL (2020)
Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic
CosyPose: Consistent multi-view multi-object 6D pose estimation. CoRR (2020)
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) (2020)
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)
Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic
CosyPose: Consistent Multi-view Multi-object 6D Pose Estimation. ECCV (17) (2020)
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) (2020)
Robin Strudel, Ricardo Garcia Pinel, Justin Carpentier, Jean-Paul Laumond, Ivan Laptev, Cordelia Schmid
Learning Obstacle Representations for Neural Motion Planning. CoRR (2020)
Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. CoRR (2019)
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) (2019)
Rohan Budhiraja, Justin Carpentier, Nicolas Mansard
Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots. ICRA (2019)
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 (2019)
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)
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 (2019)
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 (2019)
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)
Justin Carpentier, Nicolas Mansard
Multicontact Locomotion of Legged Robots. IEEE Trans. Robotics 34 (6) (2018)
Justin Carpentier, Nicolas Mansard
Analytical Derivatives of Rigid Body Dynamics Algorithms. Robotics: Science and Systems (2018)
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)
Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. Humanoids (2018)
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)
Gabriele Buondonno, Justin Carpentier, Guilhem Saurel, Nicolas Mansard, Alessandro De Luca, Jean-Paul Laumond
Actuator design of compliant walkers via optimal control. IROS (2017)
Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz
The Yoyo-Man. Int. J. Robotics Res. 36 (13-14) (2017)
Justin Carpentier, Rohan Budhiraja, Nicolas Mansard
Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots. Robotics: Science and Systems (2017)
Justin Carpentier, Mehdi Benallegue, Jean-Paul Laumond
On the centre of mass motion in human walking. Int. J. Autom. Comput. 14 (5) (2017)
Guilhem Saurel, Justin Carpentier, Nicolas Mansard, Jean-Paul Laumond
A simulation framework for simultaneous design and control of passivity based walkers. SIMPAR (2016)
Justin Carpentier, Steve Tonneau, Maximilien Naveau, Olivier Stasse, Nicolas Mansard
A versatile and efficient pattern generator for generalized legged locomotion. ICRA (2016)
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) (2016)
Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz
The Yoyo-Man. ISRR (2) (2015)
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)
Maximilien Naveau, Justin Carpentier, S. Barthelemy, Olivier Stasse, Philippe Souères
METAPOD - Template META-programming applied to dynamics: CoP-CoM trajectories filtering. Humanoids (2014)

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Publication Activity (10 Years)

Top Topics

Top Venues

Justin Carpentier