Presentations
Talks and classes.
Talks
How can model-based AI advance locomotion skills for legged characters? (keynote)
Keynote at MIG 2023 (ACM SIGGRAPH Conference on Motion, Interaction and Games, Rennes, 15-17 November 2023), on the synergies between computer graphics and robotics at the age of massively parallel simulation.
Motion planning algorithms running on Talos
Invited talk at the workshop Talos: status & progress, organised by Alexander Werner (University of Waterloo) and Olivier Stasse (LAAS-CNRS) at Humanoids 2020 (online). The workshop gathered the groups working on the Talos humanoid robot. The talk, listed in the programme as “Interactive multi contact planning algorithms for Talos”, presented two contributions: LEAS, a reinforcement learning framework that automatically plans guide paths for Talos in constrained environments (see Learning to steer a locomotion contact planner), and SL1M, a footstep planner that can be used reactively in challenging environments.
The ‘contact planning problem’ for legged robots: a cardinality minimisation approach
In October 2020 I gave a presentation on our recent work with SL1M (see below) at TUB. I was hosted by Marc Toussaint and Andreas Orthey. I made a few mistakes, amended in the comments of the YouTube video.
SL1M: sparse L1-norm minimization for contact planning on uneven terrain
ICRA 2020 presentation of SL1M. See the SL1M project page.
Slides (ppt) · Slides (pdf) · Video (mp4)
Classes
How to build a contact planner - H2020 Memmo winter school
Here is a video recorded at the end of January 2019. The class proposes an iterative approach to build a contact planner from scratch, with an end-result extremely close to HPP-rbprm. This class is part of a larger set of classes presented at the Memmo Winter school.