LR
Ludovic Righetti
cs.ROcs.LGcs.AIcs.SYeess.SYmath.OCcs.NAcs.PFeess.SPmath.NA
On Valency
published · living versionsW_qwtz6wpg·v1 · currentpublished
MABEL: An Open Anthropomorphic Mobile Bimanual Platform for Teleoperation and Learning
with Qilong Cheng, Rooholla Khorrambakht, Mohamed Yassine Kabouri, Quang Nam Nguyen +3
1 version
Preprints & journals
87 papers in the corpus · 2006–2026Task-Space Motion-Force Nonlinear Model Predictive Control for Precise and Compliant Control under Uncertainties2610.17069v1 · Quang-Nam Nguyen, Ludovic Righetti2026 · 0 citationsarXiv
VAMPS: Visual and Motor Policies from Sampling-Based Planning2610.05331v1 · Mohamed Yassine Kabouri, Pietro Noah Crestaz, Quang-Nam Nguyen et al.2026 · 0 citationsarXiv
FLEX-WAM: Flexible Block-Causal World-Action Models for Long-Horizon Imagination and Planning2610.05483v1 · R. Khorrambakht, Joseph Amigo, F'elix Lebel et al.2026 · 0 citationsarXiv
CollisionSplatting: Collision-Aware Motion Planning in 3DGS Scenes with Image-Conditioned Objectives and Adjustable Conservatism2609.35619v1 · R. Khorrambakht, Joaquim Ortiz-Haro, Stephan Weiss et al.2026 · 0 citationsarXiv
Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control2604.23863v1 · Hao Wang, Nam Nguyen, Armand Jordana et al.2026 · 0 citationsarXiv
Toward Global Intent Inference for Human Motion by Inverse Reinforcement Learning2603.07797v1 · Sarmad Mehrdad, Maxime Sabbah, Vincent Bonnet et al.2026 · 0 citationsarXiv
Hippo: High-performance Interior-Point and Projection-based Solver for Generic Constrained Trajectory Optimization2603.00871v1 · Haizhou Zhao, Ludovic Righetti, Majid Khadiv2026 · 0 citationsarXiv
Coupled Local and Global World Models for Efficient First Order RL2602.06219v3 · Joseph Amigo, Rooholla Khorrambakht, Nicolas Mansard et al.2026 · 0 citationsarXiv
Is open robotics innovation a threat to international peace and security?2601.10877v1 · Ludovic Righetti, Vincent Boulanin2026 · 1 citationIEEE Robotics & Automation Magazine, vol. 32, no. 4, pp. 42-50, Dec. 2025
WorldPlanner: Monte Carlo Tree Search and MPC with Action-Conditioned Visual World Models2511.03077v1 · R. Khorrambakht, Joaquim Ortiz-Haro, Joseph Amigo et al.2025 · 0 citationsarXiv
Learning Human Reaching Optimality Principles from Minimal Observation Inverse Reinforcement Learning2510.00329v1 · Sarmad Mehrdad, Maxime Sabbah, Vincent Bonnet et al.2025 · 0 citationsarXiv
First Order Model-Based RL through Decoupled Backpropagation2509.00215v2 · Joseph Amigo, Rooholla Khorrambakht, Elliot Chane-Sane et al.2025 · 0 citationsProceedings of the 9th Conference on Robot Learning, PMLR 305:5234-5255, 2025
Safe and Performant Deployment of Autonomous Systems via Model Predictive Control and Hamilton-Jacobi Reachability Analysis2506.23346v1 · Hao Wang, Armand Jordana, Ludovic Righetti et al.2025 · 0 citationsarXiv
An Introduction to Zero-Order Optimization Techniques for Robotics2506.22087v3 · Armand Jordana, Jianghan Zhang, Joseph Amigo et al.2025 · 0 citationsarXiv
Cost Function Estimation Using Inverse Reinforcement Learning with Minimal Observations2505.08619v1 · Sarmad Mehrdad, Avadesh Meduri, Ludovic Righetti2025 · 1 citationarXiv
Infinite-Horizon Value Function Approximation for Model Predictive Control2502.06760v2 · Armand Jordana, S'ebastien Kleff, Arthur Haffemayer et al.2025 · 5 citationsarXiv
Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?2412.09743v3 · Huaijiang Zhu, Tong Zhao, Xinpei Ni et al.2024 · 4 citationsarXiv
Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles2411.05784v1 · Jonas Kiemel, Ludovic Righetti, Torsten Kroger et al.2024 · 8 citationsarXiv
Accelerated gradient descent for high frequency Model Predictive Control2409.18327v1 · Jianghan Zhang, Armand Jordana, Ludovic Righetti2024 · 0 citationsarXiv
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience2409.13678v1 · Elliot Chane-Sane, Joseph Amigo, Thomas Flayols et al.2024 · 1 citationarXiv
iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization2403.10745v1 · Joaquim Ortiz-Haro, Wolfgang Honig, Valentin N. Hartmann et al.2024 · 13 citationsarXiv
Diffusion-based learning of contact plans for agile locomotion2403.03639v5 · Victor Dh'edin, Adithya Kumar Chinnakkonda Ravi, Armand Jordana et al.2024 · 7 citationsarXiv
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty2309.04469v2 · Ahmad Gazar, Majid Khadiv, Andrea Del Prete et al.2023 · 5 citationsarXiv
Risk-Sensitive Extended Kalman Filter2305.11573v1 · Armand Jordana, Avadesh Meduri, Etienne Arlaud et al.2023 · 6 citationsarXiv
Path Planning Under Uncertainty to Localize mmWave Sources2303.03739v2 · Kai Pfeiffer, Yuze Jia, Mingsheng Yin et al.2023 · 4 citationsarXiv
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion2210.02127v3 · Victor Dh'edin, Haolong Li, Shahram Khorshidi et al.2022 · 11 citationsarXiv
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion2209.15566v3 · Angelo Bratta, Avadesh Meduri, Michele Focchi et al.2022 · 4 citations21st International Conference on Ubiquitous Robots (UR) 2024
MPC with Sensor-Based Online Cost Adaptation2209.09451v1 · Avadesh Meduri, Huaijiang Zhu, Armand Jordana et al.2022 · 4 citationsarXiv
Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization.36134338 · Bogdanovic, Miroslav, Khadiv, Majid, Righetti, Ludovic2022 · 27 citationsFrontiers in robotics and AI. 2022;9:854212
Stagewise Newton Method for Dynamic Game Control with Imperfect State Observation2206.11341v1 · Armand Jordana, Bilal Hammoud, Justin Carpentier et al.2022 · 4 citationsIEEE Control Systems Letters, 2022
Efficient Object Manipulation Planning with Monte Carlo Tree Search2206.09023v3 · Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti2022 · 13 citationsarXiv
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots2205.13264v2 · Ahmad Gazar, Majid Khadiv, S'ebastien Kleff et al.2022 · 2 citationsarXiv
Model Based Meta Learning of Critics for Policy Gradients2204.02210v1 · Sarah Bechtle, Ludovic Righetti, Franziska Meier2022 · 0 citationsarXiv
On the Use of Torque Measurement in Centroidal State Estimation2202.12574v3 · Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella et al.2022 · 4 citationsarXiv
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning2201.07601v2 · Avadesh Meduri, Paarth Shah, Julian Viereck et al.2022 · 103 citationsarXiv
ValueNetQP: Learned one-step optimal control for legged locomotion2201.04090v1 · Julian Viereck, Avadesh Meduri, Ludovic Righetti2022 · 5 citationsarXiv
Millimeter Wave Wireless Assisted Robot Navigation with Link State Classification2110.14789v4 · Mingsheng Yin, Akshaj Veldanda, Amee Trivedi et al.2021 · 22 citationsarXiv
A unified framework for walking and running of bipedal robots2110.09172v1 · Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti et al.2021 · 6 citationsarXiv
iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations2110.06700v2 · Bilal Hammoud, Armand Jordana, Ludovic Righetti2021 · 2 citationsarXiv
IPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control2109.03338v1 · Kai Pfeiffer, Ludovic Righetti2021 · 0 citationsarXiv
Slow-fast dynamics of strongly coupled adaptive frequency oscillators2108.07423v1 · Ludovic Righetti, Jonas Buchli, Auke J. Ijspeert2021 · 5 citationsarXiv
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent2108.01797v1 · Paarth Shah, Avadesh Meduri, Wolfgang Merkt et al.2021 · 9 citationsarXiv
IPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs2106.13602v2 · Kai Pfeiffer, Adrien Escande, Ludovic Righetti2021 · 2 citationsOptimization and Engineering, 2023
Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting2106.11712v1 · Armand Jordana, Justin Carpentier, Ludovic Righetti2021 · 1 citationarXiv
A Robustness Analysis of Inverse Optimal Control of Bipedal Walking2104.12042v1 · John R. Rebula, Stefan Schaal, James Finley et al.2021 · 14 citationsarXiv
Simultaneous Navigation and Construction Benchmarking Environments2103.16732v1 · Wenyu Han, Chen Feng, Haoran Wu et al.2021 · 0 citationsarXiv
Exponential Integration for Efficient and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts2101.06846v3 · Bilal Hammoud, Luca Olivieri, Ludovic Righetti et al.2021 · 10 citationsarXiv
On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward.33323524 · Choi, HeeSun, Crump, Cindy, Duriez, Christian et al.2021 · 161 citationsProceedings of the National Academy of Sciences of the United States of America. 2021;118(1)
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control2011.04684v2 · Bilal Hammoud, Majid Khadiv, Ludovic Righetti2020 · 26 citationsarXiv
Leveraging Forward Model Prediction Error for Learning Control2011.03859v1 · Sarah Bechtle, Bilal Hammoud, Akshara Rai et al.2020 · 6 citationsarXiv
Career total: 194 works. 87 are in this corpus.Showing the 50 most recent.
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