2024Autonomous policy using Flow Matching learned from teleoperated demonstrations solving non-prehensile box pushing task in multi-contact

2024Shared autonomy assisted teleoperation solving the pushing task with a different blue object of different shape

2024Autonomous policy using Flow Matching learned from teleoperated demonstrations solving dishwasher drawers closing task in multi-contact

2024Shared autonomy assisted teleoperation to close the dishwasher drawers

2024Simulation comparison between Diffusion and Flow Matching on non-prehensile pushing task

2024Simulation comparison between Diffusion and Flow Matching on bimodal contact reaching task

2024Flow matching reactive policy learned from demonstrations pushing the red cup to target corner on Franka

2024Test open-loop policy learned from imitation learning and flow matching generative method on Franka with bimodal distribution

2024Inference of behaviour cloning policy in 2d planar environment generating a trajectory of actions

2023Christmas video Inria LARSEN 2023

2023Talos robot walks on slopped surface with an additional wall contact with SEIKO Controller

2023Talos robot climbs on step using multi-contact and SEIKO Controller

2023Multi-contact extends forward reaching distance

2023With/without load reaching comparison

2023Talos applies large push force on the wall (80N)

2023Forward reach with unexpected load (9Kg), SEIKO Controller prevents falling

2023Forward reach without load

2023Contact switch in multi-contact with SEIKO Controller

2023Evaluate SEIKO Controller robustness in MuJoCo simulator

2023Preliminary multi-contact test on Talos robot

2023Robotic parcel delivery demonstration for EuRobin project at Seville in 2023

2023Teleoperated door opening using 6d Vive input controller on Tiago robot

2023Deployment of SEIKO Retargeting with effector admittance at TouchLab startup on Tiago robot

2023Deployment of SEIKO Retargeting with effector admittance at TouchLab startup on Tiago robot

2023Deployment of SEIKO Retargeting with effector admittance at TouchLab startup on Tiago robot

2022Inference of an autonomous policy learned by behaviour cloning using Energy-Based Model in a 2d planar environment

2022Training of an Energy-Based Model (EBM) with contrastive learning on a 2d toy distribution

2022Reconstruction of object's shapes from proprioception data using differentiable polygon collision checking

2022Dexterous manipulation of medical test tube with tactile sensors (Tactip sensors designed by University of Bristol)

2021Fragile objects bimanual manipulation using tactile sensors

2022Teleoperation test with a foot input interface designed by Imperial College

2022Demonstration of industrial blocks docking and assembly using both teleoperation and automatic capture for FairSpace UK project

2022Test of reconfigurable grippers designed by University of Salford

2022Test of reconfigurable grippers designed by University of Salford

2022Teleoperated manipulation of power connector setup

2022Experiments of Fractal Impedance Control (FIC)

2021Teleoperation system architecture ROBIO paper video

2021HoloLens head-mounted holographic interface for selecting teleoperation modes (collaboration with Imperial College)

2021Target task designed for teleoperation user study in collaboration with Imperial College

2021FairSpace (UK project) public demonstration

2021Automatic bimanual object capture

2021Automatic industrial connectors docking with fiducial markers pose estimation

2021Long distance remote teleoperation between Edinburgh and Imperial College London

2021Test of teleoperation client-server interface

2021Test of custom camera streaming implementation for remote video feedback

2021Bimanual complex cube manipulation using two Sigma 7 input devices

2021SEIKO Bimanual RAM paper video

2020SEIKO Bimanual: retarget and enforce contact constraints, joint kinematic and torque constraints on dual Franka arms

2020SEIKO Bimanual: combine physical interaction and teleoperation with impedance/admittance control

2020Test relative Jacobian dual arm impedance control

2020Test impedance/admittance control for physical interaction during bimanual carrying

2020Dual arms teleoperation with hands tracking (Leap Motion sensor)

2020Bimanual SEIKO follows green box pose command and prevents breaking contact friction constraints while rotating the box

2020Dual arm multi-contact box carrying with SEIKO optimising posture and contact forces

2020Bimanual Franka arms carrying a box simulated in PyBullet

2019Sand teleoperation setup with camera video feedback

2019Sand and gravels shovel manipulation with direct line of sight

2019Test of teleoperation and impedance control on Franka arm

2019Preliminary teleoperation test with Franka arm and Sigma 7 haptic device

2019Test of whole-body QP based torque controller on Valkyrie robot hardware

2019SEIKO Retargeting T-MECH paper video

2019Teleoperated parkour with Anymal simulated in PyBullet

2019Reaching motions on Anymal simulated in PyBullet

2019Teleoperated Anymal robot to climb on walls

2019Multi-contact and contact switch with SEIKO on Anymal robot with Kinova arm

2019SEIKO and multi-contact on wheeled mobile base prevents tipping over on large slope

2019Teleoperated multi-contact parkour with Atlas model

2019Retargeting of human captured motion on Valkyrie model with feasibility constraint

2019Teleoperated multi-contact parkour using SEIKO

2018Retargeting of multi-contact large push motion

2018Motion retargeting in Gazebo simulator with whole-body torque control enforcing constraints

2018Multi-contact motion retargeting on Valkyrie robot for teleoperation

2018Static walk in Gazebo simulator with Valkyrie robot and whole-body torque control

2018Footsteps planning with Sequential Quadratic Programming (SQP) optimization

2018RoboCup 2018 quarter game against CIT team (Japan)

2018Online robot state monitoring during RoboCup 2018 game

2018RoboCup 2018 qualification video of Rhoban Football Club

2018Identification of leg's actuators dynamic model for improved simulation

2017RoboCup 2017 qualification video of Rhoban Football Club

2017Implementation of dynamic simulation with Linear Complementarity Problem (LCP) for contact resolution

2017Walk navigation planning and control with CMA-ES optimization and MDP solver

2016RoboCup 2016 qualification video of Rhoban Football Club

2016Machine learning to improve odometry estimation on Sigmaban robot from motion capture data

2016Presentation of RhIO open-source project for online parameters tuning and configuration management

2015Foot design with gauge pressure sensors to estimated ZMP on artificial grass

2015RoboCup 2015 qualification video of Rhoban Football Club

2015Euler-Lagrange simulation of passive compass walker

2015Euler-Lagrange simulation of triple pendulum

2014Exhibition of 3d printed and Sigmaban robots at science festival

2014Sigmaban robot CAD model from Rhoban team

2014Automatic tuning of walk engine parameters

20143d printed biped experiment a.k.a. Clock-Bot

20143d printed hexapod with 12 servo-motors (PWM)

20133d printed pentapod with 10 servo-motors (PWM)