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)

Robust Motion Planning in Dynamic Environments Based on Sampled-Data Hamilton-Jacobi Reachability. - Sébastien Kleff; Ning Li (Robotica, 2020)

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

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)

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 (ICRA, 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)

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

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)