Publications

Elliot Chane-Sane, Pierre-Alexandre Léziart, Thomas Flayols, Olivier Stasse, Philippe Souères, Nicolas Mansard (2024). CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. ArXiv.

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Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, Philippe Souères (2023). Controlling the Solo12 quadruped robot with deep reinforcement learning. Scientific Reports.

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Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, Philippe Souères (2023). A Hierarchical Scheme for Adapting Learned Quadruped Locomotion. IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids).

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César Debeunne, Médéric Fourmy, Yann Labbé, Pierre-Alexandre Léziart, Guilhem Saurel, Joan Solà, Nicolas Mansard (2022). CosySlam: investigating object-level SLAM for detecting locomotion surfaces.

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Fanny Risbourg, Thomas Corbères, Pierre-Alexandre Léziart, Thomas Flayols, Nicolas Mansard, Steve Tonneau (2022). Real time footstep planning and control of the Solo quadruped robot in 3D environments. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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Pierre-Alexandre Léziart, Thomas Corbères, Thomas Flayols, Steve Tonneau, Nicolas Mansard, Philippe Souères (2022). Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers. IEEE Robotics and Automation Letters (RA-L).

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Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, Philippe Souères (2021). Learning to Adapt the Trotting Gait of the Solo Quadruped.

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Pierre-Alexandre Léziart, Thomas Flayols, Felix Grimminger, Nicolas Mansard, Philippe Souères (2021). Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12. IEEE International Conference on Robotics and Automation (ICRA).

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Médéric Fourmy, Thomas Flayols, Pierre-Alexandre Léziart, Nicolas Mansard, Joan Solà (2021). Contact Forces Preintegration for Estimation in Legged Robotics using Factor Graphs. 2021 IEEE International Conference on Robotics and Automation (ICRA).

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Thomas Corbères, Thomas Flayols, Pierre-Alexandre Léziart, Rohan Budhiraja, Philippe Souères, Guilhem Saurel, Nicolas Mansard (2021). Comparison of predictive controllers for locomotion and balance recovery of quadruped robots. IEEE International Conference on Robotics and Automation (ICRA).

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Pritish Chakravarty, Gabriele Cozzi, Hooman Dejnabadi, Pierre-Alexandre Léziart, Marta Manser, Arpat Ozgul, Kamiar Aminian (2020). Seek and learn: Automated identification of microevents in animal behaviour using envelopes of acceleration data and machine learning. Methods in Ecology and Evolution.

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Simon Hauser, Mehmet Mutlu, P-A Léziart, Hala Khodr, Alexandre Bernardino, Auke Jan Ijspeert (2020). Roombots extended: Challenges in the next generation of self-reconfigurable modular robots and their application in adaptive and assistive furniture. Robotics and Autonomous Systems.

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Merwan Achibet, Benoı̂t Le Gouis, Maud Marchal, Pierre-Alexandre Léziart, Ferran Argelaguet, Adrien Girard, Anatole Lécuyer, Hiroyuki Kajimoto (2017). FlexiFingers: Multi-finger interaction in VR combining passive haptics and pseudo-haptics. 2017 IEEE Symposium on 3D User Interfaces (3DUI).

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