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Sebastien Kleff
Sebastien Kleff
Post-doctoral researcher, New York University
Verifierad e-postadress på nyu.edu - Startsida
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High-frequency nonlinear model predictive control of a manipulator
S Kleff, A Meduri, R Budhiraja, N Mansard, L Righetti
2021 IEEE International Conference on Robotics and Automation (ICRA), 7330-7336, 2021
822021
Stepping stabilization using a combination of dcm tracking and step adjustment
M Khadiv, S Kleff, A Herzog, SAA Moosavian, S Schaal, L Righetti
2016 4th International Conference on Robotics and Mechatronics (ICROM), 130-135, 2016
212016
Stagewise implementations of sequential quadratic programming for model-predictive control
A Jordana, S Kleff, A Meduri, J Carpentier, N Mansard, L Righetti
Subm. IEEE TRO, 2023
152023
Value learning from trajectory optimization and sobolev descent: A step toward reinforcement learning with superlinear convergence properties
A Parag, S Kleff, L Saci, N Mansard, O Stasse
2022 International Conference on Robotics and Automation (ICRA), 01-07, 2022
132022
Introducing Force Feedback in Model Predictive Control
S Kleff, E Dantec, G Saurel, N Mansard, L Righetti
IROS 2022, 2022
102022
Robust motion planning in dynamic environments based on sampled-data hamilton–jacobi reachability
S Kleff, N Li
Robotica 38 (12), 2151-2172, 2020
82020
On the derivation of the contact dynamics in arbitrary frames: application to polishing with Talos
S Kleff, J Carpentier, N Mansard, L Righetti
2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids …, 2022
62022
Nonlinear stochastic trajectory optimization for centroidal momentum motion generation of legged robots
A Gazar, M Khadiv, S Kleff, A Del Prete, L Righetti
The International Symposium of Robotics Research, 420-435, 2022
32022
Force feedback model-predictive control via online estimation
A Jordana, S Kleff, J Carpentier, N Mansard, L Righetti
2024 IEEE International Conference on Robotics and Automation (ICRA), 11503 …, 2024
22024
A sampled-data hamilton-jacobi reachability approach to safe and robust motion planning
S Kleff, N Li
2018 Chinese Control And Decision Conference (CCDC), 3385-3391, 2018
22018
Infinite-Horizon Value Function Approximation for Model Predictive Control
A Jordana, S Kleff, A Haffemayer, J Ortiz-Haro, J Carpentier, N Mansard, ...
arXiv preprint arXiv:2502.06760, 2025
2025
Force Feedback in Model Predictive Control: A Soft Contact Approach
S Kleff, A Jordana, N Mansard, L Righetti
2024
Toward Force Feedback in Model-Predictive Control
S Kleff
New York University Tandon School of Engineering, 2024
2024
Sampled-Data Hamilton-Jacobi Reachability Based Safe Motion Planning in Dynamic Environments
S KLEFF
上海交通大学, 2018
2018
Contrˆole prédictif sur robots commandés en couple: résultats expérimentaux
E Dantec, S Kleff
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Artiklar 1–15