SC
Simon Le Cleac'h
cs.ROcs.SYeess.SYcs.AIcs.GT
On Valency
published · living versionsW_5pmty7bb·v1 · currentpublished
Learning Multi-Phase Robot Loco-Manipulation via Phase-Conditioned Policy Optimization
with Simone Manni, Annika Wollschläger, Dario Bellicoso, Abel Gawel +2
1 version
Preprints & journals
16 papers in the corpus · 2019–2026Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL2608.12063v2 · Martin Schuck, Maks Sorokin, Simone Manni et al.2026 · 0 citationsarXiv
Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation2604.08508v3 · John Z. Zhang, Maks Sorokin, Jan Brudigam et al.2026 · 0 citationsarXiv
Generative Models From and For Sampling-Based MPC: A Bootstrapped Approach For Adaptive Contact-Rich Manipulation2510.14643v2 · Lara Brudermuller, Brandon Hung, Xinghao Zhu et al.2025 · 0 citationsarXiv
Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control2506.17184v1 · Albert H. Li, Brandon Hung, Aaron D. Ames et al.2025 · 0 citationsarXiv
Versatile Loco-Manipulation through Flexible Interlimb Coordination2506.07876v2 · Xinghao Zhu, Yuxin Chen, Lingfeng Sun et al.2025 · 0 citationsarXiv
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation2408.01258v2 · Jan Brudigam, Ali-Adeeb Abbas, Maks Sorokin et al.2024 · 0 citationsarXiv
Single-Level Differentiable Contact Simulation2212.06764v2 · Simon Le Cleac'h, Mac Schwager, Zachary Manchester et al.2022 · 9 citationsarXiv
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects2210.09420v3 · Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo et al.2022 · 34 citationsarXiv
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints2205.09255v3 · Taylor A. Howell, Simon Le Cleac'h, Kevin Tracy et al.2022 · 13 citationsarXiv
Dojo: A Differentiable Physics Engine for Robotics2203.00806v5 · Taylor A. Howell, Simon Le Cleac'h, Jan Brudigam et al.2022 · 13 citationsarXiv
Trajectory Optimization with Optimization-Based Dynamics2109.04928v4 · Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh et al.2021 · 27 citationsarXiv
Fast Contact-Implicit Model-Predictive Control2107.05616v3 · Simon Le Cleac'h, Taylor Howell, Shuo Yang et al.2021 · 100 citationsarXiv
ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games2104.08452v2 · Simon Le Cleac'h, Mac Schwager, Zachary Manchester2021 · 68 citationsarXiv
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning2011.08152v1 · Simon Le Cleac'h, Mac Schwager, Zachary Manchester2020 · 58 citationsarXiv
Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels2011.02441v1 · Remy Derollez, Simon Le Cleac'h, Zachary Manchester2020 · 6 citationsarXiv
ALGAMES: A Fast Solver for Constrained Dynamic Games1910.09713v2 · Simon Le Cleac'h, Mac Schwager, Zachary Manchester2019 · 47 citationsProceedings of Robotics: Science and Systems, 2020
Career total: 17 works. 16 are in this corpus.
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