Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. - Wilson Jallet; Antoine Bambade; Nicolas Mansard; Justin Carpentier (IROS, 2022)

PROX-QP: Yet another Quadratic Programming Solver for Robotics and beyond. - Antoine Bambade; Sarah El Kazdadi; Adrien B. Taylor; Justin Carpentier (Robotics: Science and Systems, 2022)

ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond. - Wilson Jallet; Antoine Bambade; Nicolas Mansard; Justin Carpentier (CoRR, 2022)

Differentiable Collision Detection: a Randomized Smoothing Approach. - Louis Montaut; Quentin Le Lidec; Antoine Bambade; Vladimír Petrík; Josef Sivic; Justin Carpentier (ICRA, 2023)

Leveraging augmented-Lagrangian techniques for differentiating over infeasible quadratic programs in machine learning. - Antoine Bambade; Fabian Schramm; Adrien B. Taylor; Justin Carpentier (ICLR, 2024)

Primal-dual proximal augmented lagrangian methods for quadratic programming : theory and implementation. (Méthodes de lagrangien augmenté primal-dual pour l'optimisation quadratique : théorie et implémentation). - Antoine Bambade (2024)

ProxDDP: Proximal Constrained Trajectory Optimization. - Wilson Jallet; Antoine Bambade; Etienne Arlaud; Sarah El Kazdadi; Nicolas Mansard; Justin Carpentier (IEEE Trans. Robotics, 2025)