METAPOD - Template META-programming applied to dynamics: CoP-CoM trajectories filtering. - Maximilien Naveau; Justin Carpentier; S. Barthelemy; Olivier Stasse; Philippe Souères (Humanoids, 2014)

A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach. - Justin Carpentier; Mehdi Benallegue; Nicolas Mansard; Jean-Paul Laumond (Humanoids, 2015)

A versatile and efficient pattern generator for generalized legged locomotion. - Justin Carpentier; Steve Tonneau; Maximilien Naveau; Olivier Stasse; Nicolas Mansard (ICRA, 2016)

A simulation framework for simultaneous design and control of passivity based walkers. - Guilhem Saurel; Justin Carpentier; Nicolas Mansard; Jean-Paul Laumond (SIMPAR, 2016)

Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach. - Justin Carpentier; Mehdi Benallegue; Nicolas Mansard; Jean-Paul Laumond (IEEE Trans. Robotics, 2016)

TALOS: A new humanoid research platform targeted for industrial applications. - 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; et al. (Humanoids, 2017)

Actuator design of compliant walkers via optimal control. - Gabriele Buondonno; Justin Carpentier; Guilhem Saurel; Nicolas Mansard; Alessandro De Luca 001; Jean-Paul Laumond (IROS, 2017)

Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots. - Justin Carpentier; Rohan Budhiraja; Nicolas Mansard (Robotics: Science and Systems, 2017)

On the centre of mass motion in human walking. - Justin Carpentier; Mehdi Benallegue; Jean-Paul Laumond (Int. J. Autom. Comput., 2017)

The Yoyo-Man. - Jean-Paul Laumond; Mehdi Benallegue; Justin Carpentier; Alain Berthoz (Int. J. Robotics Res., 2017)

Fondements calculatoires de la locomotion anthropomorphe. (Computational foundations of anthropomorphic locomotion). - Justin Carpentier (2017)

A Mechanical Descriptor of Human Locomotion and its Application to Multi-Contact Walking in Humanoids. - François Bailly; Justin Carpentier; Bertr Pinet; Philippe Souères; Bruno Watier (BioRob, 2018)

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. - Rohan Budhiraja; Justin Carpentier; Carlos Mastalli; Nicolas Mansard (Humanoids, 2018)

Analytical Derivatives of Rigid Body Dynamics Algorithms. - Justin Carpentier; Nicolas Mansard (Robotics: Science and Systems, 2018)

Multicontact Locomotion of Legged Robots. - Justin Carpentier; Nicolas Mansard (IEEE Trans. Robotics, 2018)

Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video. - Zongmian Li; Jirí Sedlár; Justin Carpentier; Ivan Laptev; Nicolas Mansard; Josef Sivic (CVPR, 2019)

Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots. - Rohan Budhiraja; Justin Carpentier; Nicolas Mansard (ICRA, 2019)

The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. - Justin Carpentier; Guilhem Saurel; Gabriele Buondonno; Joseph Mirabel; Florent Lamiraux; Olivier Stasse; Nicolas Mansard (SII, 2019)

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. - Carlos Mastalli; Rohan Budhiraja; Wolfgang Merkt; Guilhem Saurel; Bilal Hammoud; Maximilien Naveau; Justin Carpentier; Sethu Vijayakumar; Nicolas Mansard (CoRR, 2019)

Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion - A Recursive Approach. - François Bailly; Justin Carpentier; Mehdi Benallegue; Bruno Watier; Philippe Souères (IEEE Robotics Autom. Lett., 2019)

Learning Obstacle Representations for Neural Motion Planning. - Robin Strudel; Ricardo Garcia 001; Justin Carpentier; Jean-Paul Laumond; Ivan Laptev; Cordelia Schmid (CoRL, 2020)

CosyPose: Consistent Multi-view Multi-object 6D Pose Estimation. - Yann Labbé; Justin Carpentier; Mathieu Aubry; Josef Sivic (ECCV (17), 2020)

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. - Carlos Mastalli; Rohan Budhiraja; Wolfgang Merkt; Guilhem Saurel; Bilal Hammoud; Maximilien Naveau; Justin Carpentier; Ludovic Righetti; Sethu Vijayakumar; Nicolas Mansard (ICRA, 2020)

Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning. - Yann Labbé; Sergey Zagoruyko; Igor Kalevatykh; Ivan Laptev; Justin Carpentier; Mathieu Aubry; Josef Sivic (IEEE Robotics Autom. Lett., 2020)

C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios. - Pierre Fernbach; Steve Tonneau; Olivier Stasse; Justin Carpentier; Michel Taïx (IEEE Trans. Robotics, 2020)

Single-View Robot Pose and Joint Angle Estimation via Render & Compare. - Yann Labbé; Justin Carpentier; Mathieu Aubry; Josef Sivic (CVPR, 2021)

Fast and Robust Stability Region Estimation for Nonlinear Dynamical Systems. - Eloïse Berthier; Justin Carpentier; Francis R. Bach (ECC, 2021)

Optimal Estimation of the Centroidal Dynamics of Legged Robots. - François Bailly; Justin Carpentier; Philippe Souères (ICRA, 2021)

Equality Constrained Differential Dynamic Programming. - Sarah El Kazdadi; Justin Carpentier; Jean Ponce (ICRA, 2021)

A Hybrid Collision Model for Safety Collision Control. - Thibault Noël; Thomas Flayols; Joseph Mirabel; Justin Carpentier; Nicolas Mansard (ICRA, 2021)

Online Learning and Control of Complex Dynamical Systems from Sensory Input. - Oumayma Bounou; Jean Ponce; Justin Carpentier (NeurIPS, 2021)

Differentiable rendering with perturbed optimizers. - Quentin Le Lidec; Ivan Laptev; Cordelia Schmid; Justin Carpentier (NeurIPS, 2021)

Proximal and Sparse Resolution of Constrained Dynamic Equations. - Justin Carpentier; Rohan Budhiraja; Nicolas Mansard (Robotics: Science and Systems, 2021)

Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts. - Bilal Hammoud; Luca Olivieri; Ludovic Righetti; Justin Carpentier; Andrea Del Prete (CoRR, 2021)

Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting. - Armand Jordana; Justin Carpentier; Ludovic Righetti (CoRR, 2021)

Differentiable Simulation for Physical System Identification. - Quentin Le Lidec; Igor Kalevatykh; Ivan Laptev; Cordelia Schmid; Justin Carpentier (IEEE Robotics Autom. Lett., 2021)

Infinite-Dimensional Sums-of-Squares for Optimal Control. - Eloïse Berthier; Justin Carpentier; Alessandro Rudi; Francis R. Bach (CDC, 2022)

MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare. - Yann Labbé; Lucas Manuelli; Arsalan Mousavian; Stephen Tyree; Stan Birchfield; Jonathan Tremblay; Justin Carpentier; Mathieu Aubry; Dieter Fox; Josef Sivic (CoRL, 2022)

On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos. - Sébastien Kleff; Justin Carpentier; Nicolas Mansard; Ludovic Righetti (Humanoids, 2022)

Implicit Differential Dynamic Programming. - Wilson Jallet; Nicolas Mansard; Justin Carpentier (ICRA, 2022)

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)

Collision Detection Accelerated: An Optimization Perspective. - Louis Montaut; Quentin Le Lidec; Vladimír Petrík; Josef Sivic; Justin Carpentier (Robotics: Science and Systems, 2022)

Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems. - Quentin Le Lidec; Louis Montaut; Cordelia Schmid; Ivan Laptev; Justin Carpentier (CoRR, 2022)

Augmenting differentiable physics with randomized smoothing. - Quentin Le Lidec; Louis Montaut; Cordelia Schmid; Ivan Laptev; Justin Carpentier (CoRR, 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)

Stagewise Newton Method for Dynamic Game Control With Imperfect State Observation. - Armand Jordana; Bilal Hammoud; Justin Carpentier; Ludovic Righetti (IEEE Control. Syst. Lett., 2022)

Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. - Zongmian Li; Jirí Sedlár; Justin Carpentier; Ivan Laptev; Nicolas Mansard; Josef Sivic (Int. J. Comput. Vis., 2022)

Learning to Manipulate Tools by Aligning Simulation to Video Demonstration. - Kateryna Zorina; Justin Carpentier; Josef Sivic; Vladimír Petrík (IEEE Robotics Autom. Lett., 2022)

Leveraging Proximal Optimization for Differentiating Optimal Control Solvers. - Oumayma Bounou; Jean Ponce; Justin Carpentier (CDC, 2023)

Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control. - Quentin Le Lidec; Wilson Jallet; Ivan Laptev; Cordelia Schmid; Justin Carpentier (ICRA, 2023)

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

Multi-Contact Task and Motion Planning Guided by Video Demonstration. - Kateryna Zorina; David Kovár; Florent Lamiraux; Nicolas Mansard; Justin Carpentier; Josef Sivic; Vladimír Petrík (ICRA, 2023)

Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid Using Whole Body Trajectory Optimization. - Melya Boukheddimi; Rohit Kumar; Shivesh Kumar; Justin Carpentier; Frank Kirchner (IROS, 2023)

Learning System Dynamics from Sensory Input under Optimal Control Principles. - Oumayma Bounou; Jean Ponce; Justin Carpentier (CDC, 2024)

From centroidal to whole-body models for legged locomotion: a comparative analysis. - Ewen Dantec; Wilson Jallet; Justin Carpentier (Humanoids, 2024)

I-GRIP, a Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices. - Etienne Moullet; Justin Carpentier; Christine Azevedo-Coste; François Bailly (Humanoids, 2024)

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

Force Feedback Model-Predictive Control via Online Estimation. - Armand Jordana; Sébastien Kleff; Justin Carpentier; Nicolas Mansard; Ludovic Righetti (ICRA, 2024)

Risk-Sensitive Extended Kalman Filter. - Armand Jordana; Avadesh Meduri; Etienne Arlaud; Justin Carpentier; Ludovic Righetti (ICRA, 2024)

CACTO-SL: Using Sobolev learning to improve continuous actor-critic with trajectory optimization. - Elisa Alboni; Gianluigi Grandesso; Gastone Pietro Rosati Papini; Justin Carpentier; Andrea Del Prete (L4DC, 2024)

Condensed Semi-Implicit Dynamics for Trajectory Optimization in Soft Robotics. - Etienne Ménager; Alexandre Bilger; Wilson Jallet; Justin Carpentier; Christian Duriez (RoboSoft, 2024)

From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach. - Justin Carpentier; Quentin Le Lidec; Louis Montaut (Robotics: Science and Systems, 2024)

Parallel and Proximal Linear-Quadratic Methods for Real-Time Constrained Model-Predictive Control. - Wilson Jallet; Ewen Dantec; Etienne Arlaud; Nicolas Mansard; Justin Carpentier (Robotics: Science and Systems, 2024)

Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective. - Bruce Wingo; Ajay Suresha Sathya; Stéphane Caron; Seth A. Hutchinson; Justin Carpentier (Robotics: Science and Systems, 2024)

Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC. - Wilson Jallet; Ewen Dantec; Etienne Arlaud; Justin Carpentier; Nicolas Mansard (CoRR, 2024)

End-to-End and Highly-Efficient Differentiable Simulation for Robotics. - Quentin Le Lidec; Louis Montaut; Yann de Mont-Marin; Justin Carpentier (CoRR, 2024)

Co-designing versatile quadruped robots for dynamic and energy-efficient motions. - Gabriele Fadini; Shivesh Kumar; Rohit Kumar; Thomas Flayols; Andrea Del Prete; Justin Carpentier; Philippe Souères (Robotica, 2024)

Reconciling RaiSim With the Maximum Dissipation Principle. - Quentin Le Lidec; Justin Carpentier (IEEE Trans. Robotics, 2024)

Contact Models in Robotics: A Comparative Analysis. - Quentin Le Lidec; Wilson Jallet; Louis Montaut; Ivan Laptev; Cordelia Schmid; Justin Carpentier (IEEE Trans. Robotics, 2024)

GJK++: Leveraging Acceleration Methods for Faster Collision Detection. - Louis Montaut; Quentin Le Lidec; Vladimír Petrík; Josef Sivic; Justin Carpentier (IEEE Trans. Robotics, 2024)

Differentiable Simulation of Soft Robots with Frictional Contacts. - Etienne Ménager; Louis Montaut; Quentin Le Lidec; Justin Carpentier (RoboSoft, 2025)

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

Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control. - Armand Jordana; Sébastien Kleff; Avadesh Meduri; Justin Carpentier; Nicolas Mansard; Ludovic Righetti (IEEE Trans. Robotics, 2025)

Constrained Articulated Body Dynamics Algorithms. - Ajay Suresha Sathya; Justin Carpentier (IEEE Trans. Robotics, 2025)

PhysPose: Refining 6D Object Poses with Physical Constraints. - Martin Malenický; Martin Cífka; Médéric Fourmy; Louis Montaut; Justin Carpentier; Josef Sivic; Vladimír Petrík (CoRR, 2025)

Optimal Control of Walkers with Parallel Actuation. - Ludovic De Matteïs; Virgile Batto; Justin Carpentier; Nicolas Mansard (CoRR, 2025)

Multi-step manipulation task and motion planning guided by video demonstration. - Kateryna Zorina; David Kovár; Mederic Fourmy; Florent Lamiraux; Nicolas Mansard; Justin Carpentier; Josef Sivic; Vladimír Petrík (CoRR, 2025)

Augmented Lagrangian methods for infeasible convex optimization problems and diverging proximal-point algorithms. - Roland Andrews; Justin Carpentier; Adrien B. Taylor (CoRR, 2025)

KernelSOS for Global Sampling-Based Optimal Control and Estimation via Semidefinite Programming. - Antoine Groudiev; Fabian Schramm; Eloïse Berthier; Justin Carpentier; Frederike Dümbgen (CoRR, 2025)

Infinite-Horizon Value Function Approximation for Model Predictive Control. - Armand Jordana; Sébastien Kleff; Arthur Haffemayer; Joaquim Ortiz de Haro; Justin Carpentier; Nicolas Mansard; Ludovic Righetti (IEEE Robotics Autom. Lett., 2025)