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)

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

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)

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

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

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

Real-time constrained trajectory optimisation in robotics: theory, implementation, and applications. (Optimisation en temps réel de trajectoires contraintes en robotique : théorie, mise en œuvre et applications). - Wilson Jallet (2024)

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