Ludovic Righetti

ORCID

Publication Activity (10 Years)

Years Active: 2003-2024
Publications (10 Years): 128

Top Venues

Publications

Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti
Risk-Sensitive Extended Kalman Filter. ICRA (2024)
Armand Jordana, Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
Force Feedback Model-Predictive Control via Online Estimation. ICRA (2024)
Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. UR (2024)
Joaquim Ortiz de Haro, Wolfgang Hönig, Valentin N. Hartmann, Marc Toussaint, Ludovic Righetti
iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization. CoRR (2024)
Adithya Kumar Chinnakkonda Ravi, Victor Dhédin, Armand Jordana, Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti, Bernhard Schölkopf, Majid Khadiv
Efficient Search and Learning for Agile Locomotion on Stepping Stones. CoRR (2024)
Majid Khadiv, Avadesh Meduri, Huaijiang Zhu, Ludovic Righetti, Bernhard Schölkopf
Learning Locomotion Skills from MPC in Sensor Space. L4DC (2023)
Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti
Risk-Sensitive Extended Kalman Filter. CoRR (2023)
Kai Pfeiffer, Yuze Jia, Mingsheng Yin, Akshaj Kumar Veldanda, Yaqi Hu, Amee Trivedi, Jeff Zhang, Siddharth Garg, Elza Erkip, Sundeep Rangan, Ludovic Righetti
Path Planning Under Uncertainty to Localize mmWave Sources. CoRR (2023)
Kai Pfeiffer, Yuze Jia, Mingsheng Yin, Akshaj Kumar Veldanda, Yaqi Hu, Amee Trivedi, Jeff Zhang, Siddharth Garg, Elza Erkip, Sundeep Rangan, Ludovic Righetti
Path Planning Under Uncertainty to Localize mmWave Sources. ICRA (2023)
Wenyu Han, Haoran Wu, Eisuke Hirota, Alexander Gao, Lerrel Pinto, Ludovic Righetti, Chen Feng
Learning Simultaneous Navigation and Construction in Grid Worlds. ICLR (2023)
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty. CoRR (2023)
Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Maren Bennewitz, Majid Khadiv
On the Use of Torque Measurement in Centroidal State Estimation. ICRA (2023)
Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. IEEE Trans. Robotics 39 (2) (2023)
Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti
Efficient Object Manipulation Planning with Monte Carlo Tree Search. IROS (2023)
Avadesh Meduri, Huaijiang Zhu, Armand Jordana, Ludovic Righetti
MPC with Sensor-Based Online Cost Adaptation. ICRA (2023)
Victor Dhédin, Haolong Li, Shahram Khorshidi, Lukas Mack, Adithya Kumar Chinnakkonda Ravi, Avadesh Meduri, Paarth Shah, Felix Grimminger, Ludovic Righetti, Majid Khadiv, Joerg Stueckler
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion. 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)
Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Majid Khadiv
On the Use of Torque Measurement in Centroidal State Estimation. CoRR (2022)
Sarah Bechtle, Ludovic Righetti, Franziska Meier
Model Based Meta Learning of Critics for Policy Gradients. CoRR (2022)
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization. Frontiers Robotics AI 9 (2022)
Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
Robust Walking Based on MPC With Viability Guarantees. IEEE Trans. Robotics 38 (4) (2022)
Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. CoRR (2022)
Julian Viereck, Avadesh Meduri, Ludovic Righetti
ValueNetQP: Learned One-step Optimal Control for Legged Locomotion. L4DC (2022)
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization. Future Internet 9 (2022)
Avadesh Meduri, Huaijiang Zhu, Armand Jordana, Ludovic Righetti
MPC with Sensor-Based Online Cost Adaptation. 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)
Julian Viereck, Avadesh Meduri, Ludovic Righetti
ValueNetQP: Learned one-step optimal control for legged locomotion. CoRR (2022)
Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. ISRR (2022)
Sébastien Kleff, Ewen Dantec, Guilhem Saurel, Nicolas Mansard, Ludovic Righetti
Introducing Force Feedback in Model Predictive Control. IROS (2022)
Huaijiang Zhu, Ludovic Righetti
Efficient Object Manipulation Planning with Monte Carlo Tree Search. CoRR (2022)
Victor Dhédin, Haolong Li, Shahram Khorshidi, Lukas Mack, Adithya Kumar Chinnakkonda Ravi, Avadesh Meduri, Paarth Shah, Felix Grimminger, Ludovic Righetti, Majid Khadiv, Joerg Stueckler
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion. CoRR (2022)
Mingsheng Yin, Akshaj Kumar Veldanda, Amee Trivedi, Jeff Zhang, Kai Pfeiffer, Yaqi Hu, Siddharth Garg, Elza Erkip, Ludovic Righetti, Sundeep Rangan
Millimeter Wave Wireless Assisted Robot Navigation With Link State Classification. IEEE Open J. Commun. Soc. 3 (2022)
Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. CoRR (2022)
Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. CoRR (2022)
Bilal Hammoud, Armand Jordana, Ludovic Righetti
iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations. ACC (2022)
Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv
A unified framework for walking and running of bipedal robots. CoRR (2021)
Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti
Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control. IEEE Robotics Autom. Lett. 6 (2) (2021)
Sebastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, Ludovic Righetti
High-Frequency Nonlinear Model Predictive Control of a Manipulator. ICRA (2021)
Kai Pfeiffer, Ludovic Righetti
NIPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control. CoRR (2021)
Bilal Hammoud, Majid Khadiv, Ludovic Righetti
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control. IEEE Robotics Autom. Lett. 6 (3) (2021)
Julian Viereck, Ludovic Righetti
Learning a Centroidal Motion Planner for Legged Locomotion. ICRA (2021)
Armand Jordana, Justin Carpentier, Ludovic Righetti
Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting. CoRR (2021)
Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv
A unified framework for walking and running of bipedal robots. ICAR (2021)
Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. CoRR (2021)
Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. IROS (2021)
Kai Pfeiffer, Adrien Escande, Ludovic Righetti
NIPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs. CoRR (2021)
Bilal Hammoud, Armand Jordana, Ludovic Righetti
iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations. CoRR (2021)
Avadesh Meduri, Majid Khadiv, Ludovic Righetti
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain. ICRA (2021)
John R. Rebula, Stefan Schaal, James M. Finley, Ludovic Righetti
A Robustness Analysis of Inverse Optimal Control of Bipedal Walking. CoRR (2021)
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. HUMANOIDS (2021)
Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti
Leveraging Forward Model Prediction Error for Learning Control. ICRA (2021)
Ludovic Righetti, Jonas Buchli, Auke Jan Ijspeert
Slow-fast Dynamics of Strongly Coupled Adaptive Frequency Oscillators. SIAM J. Appl. Dyn. Syst. 20 (4) (2021)
Mingsheng Yin, Akshaj Kumar Veldanda, Amee Trivedi, Jeff Zhang, Kai Pfeiffer, Yaqi Hu, Siddharth Garg, Elza Erkip, Ludovic Righetti, Sundeep Rangan
Millimeter Wave Wireless-Assisted Robotic Navigation with Link State Classification. CoRR (2021)
Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti
Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics. IEEE Trans. Robotics 37 (5) (2021)
Alonso Marco, Dominik Baumann, Majid Khadiv, Philipp Hennig, Ludovic Righetti, Sebastian Trimpe
Robot Learning With Crash Constraints. IEEE Robotics Autom. Lett. 6 (2) (2021)
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Model-free Reinforcement Learning for Robust Locomotion Using Trajectory Optimization for Exploration. CoRR (2021)
Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete
Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts. CoRR (2021)
Wenyu Han, Chen Feng, Haoran Wu, Alexander Gao, Armand Jordana, Dong Liu, Lerrel Pinto, Ludovic Righetti
Simultaneous Navigation and Construction Benchmarking Environments. CoRR (2021)
Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti
Leveraging Forward Model Prediction Error for Learning Control. CoRR (2020)
Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti
Bipedal Walking Control using Variable Horizon MPC. CoRR (2020)
Alonso Marco, Dominik Baumann, Majid Khadiv, Philipp Hennig, Ludovic Righetti, Sebastian Trimpe
Robot Learning with Crash Constraints. CoRR (2020)
Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti
Walking Control Based on Step Timing Adaptation. IEEE Trans. Robotics 36 (3) (2020)
Manuel Wüthrich, Felix Widmaier, Felix Grimminger, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer
TriFinger: An Open-Source Robot for Learning Dexterity. CoRR (2020)
Manuel Wuthrich, Felix Widmaier, Felix Grimminger, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer
TriFinger: An Open-Source Robot for Learning Dexterity. CoRL (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)
Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson
Robust Humanoid Contact Planning With Learned Zero- and One-Step Capturability Prediction. IEEE Robotics Autom. Lett. 5 (2) (2020)
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. CoRR (2020)
Huaijiang Zhu, Manali Sharma, Kai Pfeiffer, Marco Mezzavilla, Jia Shen, Sundeep Rangan, Ludovic Righetti
Enabling Remote Whole-Body Control with 5G Edge Computing. CoRR (2020)
Huaijiang Zhu, Manali Sharma, Kai Pfeiffer, Marco Mezzavilla, Jia Shen, Sundeep Rangan, Ludovic Righetti
Enabling Remote Whole-Body Control with 5G Edge Computing. IROS (2020)
Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
Robust walking based on MPC with viability-based feasibility guarantees. CoRR (2020)
Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. IEEE Robotics Autom. Lett. 5 (2) (2020)
Avadesh Meduri, Majid Khadiv, Ludovic Righetti
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain. CoRR (2020)
Diego Agudelo-España, Andrii Zadaianchuk, Philippe Wenk, Aditya Garg, Joel Akpo, Felix Grimminger, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Georg Martius, Andreas Krause, Bernhard Schölkopf, Stefan Bauer, Manuel Wüthrich
A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models. ICRA (2020)
Julian Viereck, Ludovic Righetti
Learning a Centroidal Motion Planner for Legged Locomotion. CoRR (2020)
Bilal Hammoud, Majid Khadiv, Ludovic Righetti
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control. CoRR (2020)
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Learning Variable Impedance Control for Contact Sensitive Tasks. IEEE Robotics Autom. Lett. 5 (4) (2020)
Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics. CoRR (2020)
Sarah Bechtle, Artem Molchanov, Yevgen Chebotar, Edward Grefenstette, Ludovic Righetti, Gaurav S. Sukhatme, Franziska Meier
Meta Learning via Learned Loss. ICPR (2020)
Miroslav Bogdanovic, Ludovic Righetti
Learning to Explore in Motion and Interaction Tasks. CoRR (2019)
Sarah Bechtle, Yixin Lin, Akshara Rai, Ludovic Righetti, Franziska Meier
Curious iLQR: Resolving Uncertainty in Model-based RL. CoRL (2019)
Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. CoRR (2019)
Majid Khadiv, Mohammad Hasan Yeganegi, S. Ali A. Moosavian, Jia-Jie Zhu, Ludovic Righetti
Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning. CoRR (2019)
Timothy Bretl, Ludovic Righetti, Raj Madhavan
Epstein, Project Maven, and Some Reasons to Think About Where We Get Our Funding [Ethical, Legal, and Societal Issues]. IEEE Robotics Autom. Mag. 26 (4) (2019)
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Learning Variable Impedance Control for Contact Sensitive Tasks. CoRR (2019)
John R. Rebula, Stefan Schaal, James M. Finley, Ludovic Righetti
A Robustness Analysis of Inverse Optimal Control of Bipedal Walking. IEEE Robotics Autom. Lett. 4 (4) (2019)
Ludovic Righetti, Raj Madhavan, Raja Chatila
Unintended Consequences of Biased Robotic and Artificial Intelligence Systems [Ethical, Legal, and Societal Issues]. IEEE Robotics Autom. Mag. 26 (3) (2019)
Sarah Bechtle, Akshara Rai, Yixin Lin, Ludovic Righetti, Franziska Meier
Curious iLQR: Resolving Uncertainty in Model-based RL. CoRR (2019)
Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. Humanoids (2019)
Lee E. Clement, Valentin Peretroukhin, Matthew Giamou, John J. Leonard, Hadas Kress-Gazit, Jonathan P. How, Michael Milford, Oliver Brock, Ryan Gariepy, Nicholas Roy, Hallie Siegel, Ludovic Righetti, Aude Billard, Jonathan Kelly
Where Do We Go From Here? Debates on the Future of Robotics Research at ICRA 2019 [From the Field]. IEEE Robotics Autom. Mag. 26 (3) (2019)
Ludovic Righetti, Tomomichi Sugihara, Giorgio Metta, Katsu Yamane
Growing the Humanoid Robotics Community [TC Spotlight]. IEEE Robotics Autom. Mag. 26 (4) (2019)
Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson
Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction. CoRR (2019)
Miroslav Bogdanovic, Ludovic Righetti
Learning to Explore in Motion and Interaction Tasks. IROS (2019)
Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. CoRR (2019)
Hamza Merzic, Miroslav Bogdanovic, Daniel Kappler, Ludovic Righetti, Jeannette Bohg
Leveraging Contact Forces for Learning to Grasp. ICRA (2019)
Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. ICRA (2019)
Yevgen Chebotar, Artem Molchanov, Sarah Bechtle, Ludovic Righetti, Franziska Meier, Gaurav S. Sukhatme
Meta-Learning via Learned Loss. CoRR (2019)
Q.-C. Pham, Raj Madhavan, Ludovic Righetti, W. Smart, Raja Chatila
The Impact of Robotics and Automation on Working Conditions and Employment [Ethical, Legal, and Societal Issues]. IEEE Robotics Autom. Mag. 25 (2) (2018)
Hamza Merzic, Miroslav Bogdanovic, Daniel Kappler, Ludovic Righetti, Jeannette Bohg
Leveraging Contact Forces for Learning to Grasp. CoRR (2018)
Andrej Gams, Sean A. Mason, Ales Ude, Stefan Schaal, Ludovic Righetti
Learning Task-Specific Dynamics to Improve Whole-Body Control. CoRR (2018)
Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti
On Time Optimization of Centroidal Momentum Dynamics. ICRA (2018)

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Publication Activity (10 Years)

Top Topics

Top Venues

Ludovic Righetti