Evolution of Fault-Tolerant Self-Replicating Structures. - Ludovic Righetti; Solaiman Shokur; Mathieu S. Caparrere (ECAL, 2003)

Operating System Support for Interface Virtualisation of Reconfigurable Coprocessors. - Miljan Vuletic; Ludovic Righetti; Laura Pozzi 001; Paolo Ienne (DATE, 2004)

A Dynamical Systems Approach to Learning: A Frequency-Adaptive Hopper Robot. - Jonas Buchli; Ludovic Righetti; Auke Jan Ijspeert (ECAL, 2005)

Movement generation using dynamical systems : a humanoid robot performing a drumming task. - Sarah Degallier; Cristina P. Santos 001; Ludovic Righetti; Auke Jan Ijspeert (Humanoids, 2006)

Programmable Central Pattern Generators: an Application to Biped Locomotion Control. - Ludovic Righetti; Auke Jan Ijspeert (ICRA, 2006)

Design Methodologies for Central Pattern Generators: An Application to Crawling Humanoids. - Ludovic Righetti; Auke Jan Ijspeert (Robotics: Science and Systems, 2006)

Engineering entrainment and adaptation in limit cycle systems. - Jonas Buchli; Ludovic Righetti; Auke Jan Ijspeert (Biol. Cybern., 2006)

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach. - Sarah Degallier; Ludovic Righetti; Auke Jan Ijspeert (IROS, 2007)

Lower body realization of the baby humanoid - 'iCub'. - Nikolaos G. Tsagarakis; Francesco Becchi; Ludovic Righetti; Auke Jan Ijspeert; Darwin G. Caldwell (IROS, 2007)

iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research. - Nikolaos G. Tsagarakis; Giorgio Metta; Giulio Sandini; David Vernon; Ricardo Beira; Francesco Becchi; Ludovic Righetti; José Santos-Victor; Auke Jan Ijspeert; Maria Chiara Carrozza; Darwin G. Caldwell (Adv. Robotics, 2007)

Pattern generators with sensory feedback for the control of quadruped locomotion. - Ludovic Righetti; Auke Jan Ijspeert (ICRA, 2008)

Experimental study of limit cycle and chaotic controllers for the locomotion of centipede robots. - Loic Matthey; Ludovic Righetti; Auke Jan Ijspeert (IROS, 2008)

Control of legged locomotion using dynamical systems - design methods and adaptive frequency oscillators. - Ludovic Righetti (2008)

Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion. - Robert D. Gregg; Ludovic Righetti; Jonas Buchli; Stefan Schaal (Humanoids, 2010)

Control of legged robots with optimal distribution of contact forces. - Ludovic Righetti; Jonas Buchli; Michael N. Mistry; Stefan Schaal (Humanoids, 2011)

Inverse dynamics control of floating-base robots with external constraints: A unified view. - Ludovic Righetti; Jonas Buchli; Michael N. Mistry; Stefan Schaal (ICRA, 2011)

Learning force control policies for compliant manipulation. - Mrinal Kalakrishnan; Ludovic Righetti; Peter Pastor; Stefan Schaal (IROS, 2011)

Online movement adaptation based on previous sensor experiences. - Peter Pastor; Ludovic Righetti; Mrinal Kalakrishnan; Stefan Schaal (IROS, 2011)

Learning motion primitive goals for robust manipulation. - Freek Stulp; Evangelos A. Theodorou; Mrinal Kalakrishnan; Peter Pastor; Ludovic Righetti; Stefan Schaal (IROS, 2011)

Operational Space Control of Constrained and Underactuated Systems. - Michael N. Mistry; Ludovic Righetti (Robotics: Science and Systems, 2011)

Toward simple control for complex, autonomous robotic applications: combining discrete and rhythmic motor primitives. - Sarah Degallier; Ludovic Righetti; Sébastien Gay; Auke Jan Ijspeert (Auton. Robots, 2011)

Encoding of periodic and their transient motions by a single dynamic movement primitive. - Johannes Ernesti; Ludovic Righetti; Martin Do; Tamim Asfour; Stefan Schaal (Humanoids, 2012)

Towards Associative Skill Memories. - Peter Pastor; Mrinal Kalakrishnan; Ludovic Righetti; Stefan Schaal (Humanoids, 2012)

Quadratic programming for inverse dynamics with optimal distribution of contact forces. - Ludovic Righetti; Stefan Schaal (Humanoids, 2012)

Learning Force Control Policies for Compliant Robotic Manipulation. - Mrinal Kalakrishnan; Ludovic Righetti; Peter Pastor; Stefan Schaal (ICML, 2012)

Template-based learning of grasp selection. - Alexander Herzog; Peter Pastor; Mrinal Kalakrishnan; Ludovic Righetti; Tamim Asfour; Stefan Schaal (ICRA, 2012)

Probabilistic depth image registration incorporating nonvisual information. - Manuel Wuthrich; Peter Pastor; Ludovic Righetti; Aude Billard; Stefan Schaal (ICRA, 2012)

Learning objective functions for manipulation. - Mrinal Kalakrishnan; Peter Pastor; Ludovic Righetti; Stefan Schaal (ICRA, 2013)

Learning task error models for manipulation. - Peter Pastor; Mrinal Kalakrishnan; Jonathan Binney; Jonathan Kelly; Ludovic Righetti; Gaurav S. Sukhatme; Stefan Schaal (ICRA, 2013)

AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots. - Marco Hutter 001; Michael Blösch; Jonas Buchli; Claudio Semini; Stéphane Bazeille; Ludovic Righetti; Jeannette Bohg (SSRR, 2013)

Momentum-based Balance Control for Torque-controlled Humanoids - Alexander Herzog; Ludovic Righetti; Felix Grimminger; Peter Pastor; Stefan Schaal (CoRR, 2013)

Optimal distribution of contact forces with inverse-dynamics control. - Ludovic Righetti; Jonas Buchli; Michael N. Mistry; Mrinal Kalakrishnan; Stefan Schaal (Int. J. Robotics Res., 2013)

Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation. - Robert D. Gregg; Ludovic Righetti (IEEE Trans. Autom. Control., 2013)

Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting. - Sean Mason; Ludovic Righetti; Stefan Schaal (Humanoids, 2014)

Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics. - Alexander Herzog; Ludovic Righetti; Felix Grimminger; Peter Pastor; Stefan Schaal (IROS, 2014)

State estimation for a humanoid robot. - Nicholas Rotella; Michael Blösch; Ludovic Righetti; Stefan Schaal (IROS, 2014)

Dual execution of optimized contact interaction trajectories. - Marc Toussaint; Nathan D. Ratliff; Jeannette Bohg; Ludovic Righetti; Peter Englert; Stefan Schaal (IROS, 2014)

Learning of grasp selection based on shape-templates. - Alexander Herzog; Peter Pastor; Mrinal Kalakrishnan; Ludovic Righetti; Jeannette Bohg; Tamim Asfour; Stefan Schaal (Auton. Robots, 2014)

An autonomous manipulation system based on force control and optimization. - Ludovic Righetti; Mrinal Kalakrishnan; Peter Pastor; Jonathan Binney; Jonathan Kelly; Randolph Voorhies; Gaurav S. Sukhatme; Stefan Schaal (Auton. Robots, 2014)

Trajectory generation for multi-contact momentum control. - Alexander Herzog; Nicholas Rotella; Stefan Schaal; Ludovic Righetti (Humanoids, 2015)

Humanoid momentum estimation using sensed contact wrenches. - Nicholas Rotella; Alexander Herzog; Stefan Schaal; Ludovic Righetti (Humanoids, 2015)

Step timing adjustment: A step toward generating robust gaits. - Majid Khadiv; Alexander Herzog; S. Ali A. Moosavian; Ludovic Righetti (Humanoids, 2016)

Balancing and walking using full dynamics LQR control with contact constraints. - Sean Mason; Nicholas Rotella; Stefan Schaal; Ludovic Righetti (Humanoids, 2016)

A convex model of humanoid momentum dynamics for multi-contact motion generation. - Brahayam Ponton; Alexander Herzog; Stefan Schaal; Ludovic Righetti (Humanoids, 2016)

Inertial sensor-based humanoid joint state estimation. - Nicholas Rotella; Sean Mason; Stefan Schaal; Ludovic Righetti (ICRA, 2016)

Structured contact force optimization for kino-dynamic motion generation. - Alexander Herzog; Stefan Schaal; Ludovic Righetti (IROS, 2016)

On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions. - Brahayam Pontón; Stefan Schaal; Ludovic Righetti (WAFR, 2016)

Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid. - Alexander Herzog; Nicholas Rotella; Sean Mason; Felix Grimminger; Stefan Schaal; Ludovic Righetti (Auton. Robots, 2016)

Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment. - Majid Khadiv; Sébastien Kleff; Alexander Herzog; S. Ali A. Moosavian; Stefan Schaal; Ludovic Righetti (CoRR, 2016)

A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation. - Brahayam Ponton; Alexander Herzog; Stefan Schaal; Ludovic Righetti (CoRR, 2016)

Risk sensitive nonlinear optimal control with measurement uncertainty. - Brahayam Ponton; Stefan Schaal; Ludovic Righetti (CoRR, 2016)

A robust walking controller based on online step location and duration optimization for bipedal locomotion. - Majid Khadiv; Alexander Herzog; S. Ali A. Moosavian; Ludovic Righetti (CoRR, 2017)

Pattern Generation for Walking on Slippery Terrains. - Majid Khadiv; S. Ali A. Moosavian; Alexander Herzog; Ludovic Righetti (CoRR, 2017)

On Time Optimisation of Centroidal Momentum Dynamics. - Brahayam Ponton; Alexander Herzog; Stefan Schaal; Ludovic Righetti (CoRR, 2017)

A MPC Walking Framework With External Contact Forces. - Sean Mason; Nicholas Rotella; Stefan Schaal; Ludovic Righetti (CoRR, 2017)

Whole-Body Control [TC Spotlight]. - Federico L. Moro; Luis Sentis; Jaeheung Park; Christopher G. Atkeson; Michael Gienger; Ambarish Goswami; Shuuji Kajita; Oussama Khatib; James Kuffner; David E. Orin; Christian Ott 001; Jerry E. Pratt; et al. (IEEE Robotics Autom. Mag., 2017)

Momentum-Centered Control of Contact Interactions. - Ludovic Righetti; Alexander Herzog (Geometric and Numerical Foundations of Movements, 2017)

Learning Task-Specific Dynamics to Improve Whole-Body Control. - Andrej Gams; Sean A. Mason; Ales Ude; Stefan Schaal; Ludovic Righetti (Humanoids, 2018)

An MPC Walking Framework with External Contact Forces. - Sean Mason; Nicholas Rotella; Stefan Schaal; Ludovic Righetti (ICRA, 2018)

On Time Optimization of Centroidal Momentum Dynamics. - Brahayam Ponton; Alexander Herzog; Andrea Del Prete; Stefan Schaal; Ludovic Righetti (ICRA, 2018)

Unsupervised Contact Learning for Humanoid Estimation and Control. - Nicholas Rotella; Stefan Schaal; Ludovic Righetti (ICRA, 2018)

Robust Physics-based Motion Retargeting with Realistic Body Shapes. - Mazen Al Borno; Ludovic Righetti; Michael J. Black; Scott L. Delp; Eugene Fiume; Javier Romero 002 (Comput. Graph. Forum, 2018)

Learning a Structured Neural Network Policy for a Hopping Task. - Julian Viereck; Jules Kozolinsky; Alexander Herzog; Ludovic Righetti (IEEE Robotics Autom. Lett., 2018)

The Impact of Robotics and Automation on Working Conditions and Employment [Ethical, Legal, and Societal Issues]. - Q.-C. Pham; Raj Madhavan 001; Ludovic Righetti; W. Smart; Raja Chatila 001 (IEEE Robotics Autom. Mag., 2018)

Lethal Autonomous Weapon Systems [Ethical, Legal, and Societal Issues]. - Ludovic Righetti; Q.-C. Pham; Raj Madhavan 001; Raja Chatila 001 (IEEE Robotics Autom. Mag., 2018)

Curious iLQR: Resolving Uncertainty in Model-based RL. - Sarah Bechtle; Yixin Lin; Akshara Rai; Ludovic Righetti; Franziska Meier (CoRL, 2019)

Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. - Mohammad Hasan Yeganegi; Majid Khadiv; S. Ali A. Moosavian; Jia-Jie Zhu; Andrea Del Prete; Ludovic Righetti (Humanoids, 2019)

Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. - Yu-Chi Lin; Brahayam Ponton; Ludovic Righetti; Dmitry Berenson (ICRA, 2019)

Leveraging Contact Forces for Learning to Grasp. - Hamza Merzic; Miroslav Bogdanovic; Daniel Kappler; Ludovic Righetti; Jeannette Bohg (ICRA, 2019)

Learning to Explore in Motion and Interaction Tasks. - Miroslav Bogdanovic; Ludovic Righetti (IROS, 2019)

Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning. - Majid Khadiv; Mohammad Hasan Yeganegi; S. Ali A. Moosavian; Jia-Jie Zhu; Ludovic Righetti (CoRR, 2019)

Meta-Learning via Learned Loss. - Yevgen Chebotar; Artem Molchanov; Sarah Bechtle; Ludovic Righetti; Franziska Meier; Gaurav S. Sukhatme (CoRR, 2019)

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. - 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 (CoRR, 2019)

A Robustness Analysis of Inverse Optimal Control of Bipedal Walking. - John R. Rebula; Stefan Schaal; James M. Finley; Ludovic Righetti (IEEE Robotics Autom. Lett., 2019)

Epstein, Project Maven, and Some Reasons to Think About Where We Get Our Funding [Ethical, Legal, and Societal Issues]. - Timothy Bretl; Ludovic Righetti; Raj Madhavan 001 (IEEE Robotics Autom. Mag., 2019)

Where Do We Go From Here? Debates on the Future of Robotics Research at ICRA 2019 [From the Field]. - 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; et al. (IEEE Robotics Autom. Mag., 2019)

Unintended Consequences of Biased Robotic and Artificial Intelligence Systems [Ethical, Legal, and Societal Issues]. - Ludovic Righetti; Raj Madhavan 001; Raja Chatila 001 (IEEE Robotics Autom. Mag., 2019)

Growing the Humanoid Robotics Community [TC Spotlight]. - Ludovic Righetti; Tomomichi Sugihara; Giorgio Metta; Katsu Yamane (IEEE Robotics Autom. Mag., 2019)

TriFinger: An Open-Source Robot for Learning Dexterity. - Manuel Wuthrich; Felix Widmaier; Felix Grimminger; Shruti Joshi; Vaibhav Agrawal; Bilal Hammoud; Majid Khadiv; Miroslav Bogdanovic; Vincent Berenz; Julian Viereck; Maximilien Naveau; Ludovic Righetti; et al. (CoRL, 2020)

Meta Learning via Learned Loss. - Sarah Bechtle; Artem Molchanov; Yevgen Chebotar; Edward Grefenstette; Ludovic Righetti; Gaurav S. Sukhatme; Franziska Meier (ICPR, 2020)

A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models. - Diego Agudelo-España; Andrii Zadaianchuk; Philippe Wenk; Aditya Garg; Joel Akpo; Felix Grimminger; Julian Viereck; Maximilien Naveau; Ludovic Righetti; Georg Martius; Andreas Krause 001; Bernhard Schölkopf; et al. (ICRA, 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)

Enabling Remote Whole-Body Control with 5G Edge Computing. - Huaijiang Zhu; Manali Sharma; Kai Pfeiffer; Marco Mezzavilla; Jia Shen; Sundeep Rangan; Ludovic Righetti (IROS, 2020)

TriFinger: An Open-Source Robot for Learning Dexterity. - Manuel Wüthrich; Felix Widmaier; Felix Grimminger; Joel Akpo; Shruti Joshi; Vaibhav Agrawal; Bilal Hammoud; Majid Khadiv; Miroslav Bogdanovic; Vincent Berenz; Julian Viereck; Maximilien Naveau; et al. (CoRR, 2020)

Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics. - Brahayam Ponton; Majid Khadiv; Avadesh Meduri; Ludovic Righetti (CoRR, 2020)

Robust walking based on MPC with viability-based feasibility guarantees. - Mohammad Hasan Yeganegi; Majid Khadiv; Andrea Del Prete; S. Ali A. Moosavian; Ludovic Righetti (CoRR, 2020)

Bipedal Walking Control using Variable Horizon MPC. - Elham Daneshmand; Majid Khadiv; Felix Grimminger; Ludovic Righetti (CoRR, 2020)

Learning Variable Impedance Control for Contact Sensitive Tasks. - Miroslav Bogdanovic; Majid Khadiv; Ludovic Righetti (IEEE Robotics Autom. Lett., 2020)

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. - 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; et al. (IEEE Robotics Autom. Lett., 2020)

Robust Humanoid Contact Planning With Learned Zero- and One-Step Capturability Prediction. - Yu-Chi Lin; Ludovic Righetti; Dmitry Berenson (IEEE Robotics Autom. Lett., 2020)

Walking Control Based on Step Timing Adaptation. - Majid Khadiv; Alexander Herzog; S. Ali A. Moosavian; Ludovic Righetti (IEEE Trans. Robotics, 2020)

Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. - Ahmad Gazar; Majid Khadiv; Andrea Del Prete; Ludovic Righetti (HUMANOIDS, 2021)

A unified framework for walking and running of bipedal robots. - Mahrokh Ghoddousi Boroujeni; Elham Daneshmand; Ludovic Righetti; Majid Khadiv (ICAR, 2021)

Leveraging Forward Model Prediction Error for Learning Control. - Sarah Bechtle; Bilal Hammoud; Akshara Rai; Franziska Meier; Ludovic Righetti (ICRA, 2021)

High-Frequency Nonlinear Model Predictive Control of a Manipulator. - Sébastien Kleff; Avadesh Meduri; Rohan Budhiraja; Nicolas Mansard; Ludovic Righetti (ICRA, 2021)

DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain. - Avadesh Meduri; Majid Khadiv; Ludovic Righetti (ICRA, 2021)

Learning a Centroidal Motion Planner for Legged Locomotion. - Julian Viereck; Ludovic Righetti (ICRA, 2021)

Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. - Paarth Shah; Avadesh Meduri; Wolfgang Merkt; Majid Khadiv; Ioannis Havoutis; Ludovic Righetti (IROS, 2021)

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

Simultaneous Navigation and Construction Benchmarking Environments. - Wenyu Han; Chen Feng 002; Haoran Wu; Alexander Gao; Armand Jordana; Dong Liu; Lerrel Pinto; Ludovic Righetti (CoRR, 2021)

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

NIPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs. - Kai Pfeiffer; Adrien Escande; Ludovic Righetti (CoRR, 2021)

Model-free Reinforcement Learning for Robust Locomotion Using Trajectory Optimization for Exploration. - Miroslav Bogdanovic; Majid Khadiv; Ludovic Righetti (CoRR, 2021)

NIPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control. - Kai Pfeiffer; Ludovic Righetti (CoRR, 2021)

Millimeter Wave Wireless-Assisted Robotic Navigation with Link State Classification. - Mingsheng Yin; Akshaj Kumar Veldanda; Amee Trivedi; Jeff Zhang 001; Kai Pfeiffer; Yaqi Hu; Siddharth Garg; Elza Erkip; Ludovic Righetti; Sundeep Rangan (CoRR, 2021)

Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control. - Elham Daneshmand; Majid Khadiv; Felix Grimminger; Ludovic Righetti (IEEE Robotics Autom. Lett., 2021)

Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control. - Bilal Hammoud; Majid Khadiv; Ludovic Righetti (IEEE Robotics Autom. Lett., 2021)

Robot Learning With Crash Constraints. - Alonso Marco; Dominik Baumann; Majid Khadiv; Philipp Hennig; Ludovic Righetti; Sebastian Trimpe (IEEE Robotics Autom. Lett., 2021)

Slow-fast Dynamics of Strongly Coupled Adaptive Frequency Oscillators. - Ludovic Righetti; Jonas Buchli; Auke Jan Ijspeert (SIAM J. Appl. Dyn. Syst., 2021)

Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics. - Brahayam Ponton; Majid Khadiv; Avadesh Meduri; Ludovic Righetti (IEEE Trans. Robotics, 2021)

iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations. - Bilal Hammoud; Armand Jordana; Ludovic Righetti (ACC, 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)

Introducing Force Feedback in Model Predictive Control. - Sébastien Kleff; Ewen Dantec; Guilhem Saurel; Nicolas Mansard; Ludovic Righetti (IROS, 2022)

Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. - Ahmad Gazar; Majid Khadiv; Sébastien Kleff; Andrea Del Prete; Ludovic Righetti (ISRR, 2022)

ValueNetQP: Learned One-step Optimal Control for Legged Locomotion. - Julian Viereck; Avadesh Meduri; Ludovic Righetti (L4DC, 2022)

On the Use of Torque Measurement in Centroidal State Estimation. - Shahram Khorshidi; Ahmad Gazar; Nicholas Rotella; Maximilien Naveau; Ludovic Righetti; Majid Khadiv (CoRR, 2022)

Model Based Meta Learning of Critics for Policy Gradients. - Sarah Bechtle; Ludovic Righetti; Franziska Meier (CoRR, 2022)

Efficient Object Manipulation Planning with Monte Carlo Tree Search. - Huaijiang Zhu; Ludovic Righetti (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)

Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization. - Miroslav Bogdanovic; Majid Khadiv; Ludovic Righetti (Frontiers Robotics AI, 2022)

Millimeter Wave Wireless Assisted Robot Navigation With Link State Classification. - Mingsheng Yin; Akshaj Kumar Veldanda; Amee Trivedi; Jeff Zhang 001; Kai Pfeiffer; Yaqi Hu; Siddharth Garg; Elza Erkip; Ludovic Righetti; Sundeep Rangan (IEEE Open J. Commun. Soc., 2022)

Robust Walking Based on MPC With Viability Guarantees. - Mohammad Hasan Yeganegi; Majid Khadiv; Andrea Del Prete; S. Ali A. Moosavian; Ludovic Righetti (IEEE Trans. Robotics, 2022)

Learning Simultaneous Navigation and Construction in Grid Worlds. - Wenyu Han; Haoran Wu; Eisuke Hirota; Alexander Gao; Lerrel Pinto; Ludovic Righetti; Chen Feng 002 (ICLR, 2023)

Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion. - Victor Dhédin; Haolong Li; Shahram Khorshidi; Lukas Mack; Adithya Kumar Chinnakkonda Ravi; Avadesh Meduri; Paarth Shah; Felix Grimminger; Ludovic Righetti; Majid Khadiv; Joerg Stueckler (ICRA, 2023)

On the Use of Torque Measurement in Centroidal State Estimation. - Shahram Khorshidi; Ahmad Gazar; Nicholas Rotella; Maximilien Naveau; Ludovic Righetti; Maren Bennewitz; Majid Khadiv (ICRA, 2023)

MPC with Sensor-Based Online Cost Adaptation. - Avadesh Meduri; Huaijiang Zhu; Armand Jordana; Ludovic Righetti (ICRA, 2023)

Path Planning Under Uncertainty to Localize mmWave Sources. - Kai Pfeiffer; Yuze Jia; Mingsheng Yin; Akshaj Kumar Veldanda; Yaqi Hu; Amee Trivedi; Jeff Zhang 001; Siddharth Garg; Elza Erkip; Sundeep Rangan; Ludovic Righetti (ICRA, 2023)

Efficient Object Manipulation Planning with Monte Carlo Tree Search. - Huaijiang Zhu; Avadesh Meduri; Ludovic Righetti (IROS, 2023)

Learning Locomotion Skills from MPC in Sensor Space. - Majid Khadiv; Avadesh Meduri; Huaijiang Zhu; Ludovic Righetti; Bernhard Schölkopf (L4DC, 2023)

Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty. - Ahmad Gazar; Majid Khadiv; Andrea Del Prete; Ludovic Righetti (CoRR, 2023)

BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. - Avadesh Meduri; Paarth Shah; Julian Viereck; Majid Khadiv; Ioannis Havoutis; Ludovic Righetti (IEEE Trans. Robotics, 2023)

SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience. - Elliot Chane-Sane; Joseph Amigo; Thomas Flayols; Ludovic Righetti; Nicolas Mansard (CoRL, 2024)

Diffusion-based learning of contact plans for agile locomotion. - Victor Dhédin; Adithya Kumar Chinnakkonda Ravi; Armand Jordana; Huaijiang Zhu; Avadesh Meduri; Ludovic Righetti; Bernhard Schölkopf; Majid Khadiv (Humanoids, 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)

iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization. - Joaquim Ortiz de Haro; Wolfgang Hönig; Valentin N. Hartmann; Marc Toussaint; Ludovic Righetti (IROS, 2024)

ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. - Angelo Bratta; Avadesh Meduri; Michele Focchi; Ludovic Righetti; Claudio Semini (UR, 2024)

Efficient Search and Learning for Agile Locomotion on Stepping Stones. - Adithya Kumar Chinnakkonda Ravi; Victor Dhédin; Armand Jordana; Huaijiang Zhu; Avadesh Meduri; Ludovic Righetti; Bernhard Schölkopf; Majid Khadiv (CoRR, 2024)

Accelerated gradient descent for high frequency Model Predictive Control. - Jianghan Zhang; Armand Jordana; Ludovic Righetti (CoRR, 2024)

Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles. - Jonas C. Kiemel; Ludovic Righetti; Torsten Kröger; Tamim Asfour (IEEE Robotics Autom. Lett., 2024)

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)

Cost Function Estimation Using Inverse Reinforcement Learning with Minimal Observations. - Sarmad Mehrdad; Avadesh Meduri; Ludovic Righetti (CoRR, 2025)

An Introduction to Zero-Order Optimization Techniques for Robotics. - Armand Jordana; Jianghan Zhang; Joseph Amigo; Ludovic Righetti (CoRR, 2025)

Safe and Performant Deployment of Autonomous Systems via Model Predictive Control and Hamilton-Jacobi Reachability Analysis. - Hao Wang; Armand Jordana; Ludovic Righetti; Somil Bansal (CoRR, 2025)

Should We Learn Contact-Rich Manipulation Policies From Sampling-Based Planners? - Huaijiang Zhu; Tong Zhao; Xinpei Ni; Jiuguang Wang; Kuan Fang; Ludovic Righetti; Tao Pang (IEEE Robotics Autom. Lett., 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)