Sébastien Kleff

According to our database, Sébastien Kleff authored at least 12 papers between 2016 and 2026.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2026

Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring.

Krzysztof Wojciechowski, Ege Gursoy, Arthur Haffemayer, Sébastien Kleff, Vincent Bonnet, Florent Lamiraux, Nicolas Mansard

CoRR, April, 2026

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., July, 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

2024

Toward Force Feedback in Model-Predictive Control. (Retour en force en commande prédictive).

Sébastien Kleff

PhD thesis, 2024

Force Feedback Model-Predictive Control via Online Estimation.

Armand Jordana, Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2022

Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots.

Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti

Proceedings of the Robotics Research, 2022

Introducing Force Feedback in Model Predictive Control.

Sébastien Kleff, Ewen Dantec, Guilhem Saurel, Nicolas Mansard, Ludovic Righetti

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence properties.

Amit Parag, Sébastien Kleff, Léo Saci, Nicolas Mansard, Olivier Stasse

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos.

Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

2021

High-Frequency Nonlinear Model Predictive Control of a Manipulator.

Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, Ludovic Righetti

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020

Robust Motion Planning in Dynamic Environments Based on Sampled-Data Hamilton-Jacobi Reachability.

Sébastien Kleff, Ning Li

Robotica, 2020

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