This video illustrates the paper "Warm-Starting Collision-Free Model Predictive Control With Object-Centric Diffusion" published in the Robotics and Automation Letters. Its shows how an optimal control program warm-started by a trajectory generated by a diffusion neural network can produce a collision-free motion for a robotic arm in the presence of movable obstacles.

Manipulation of a box with a humanoid robot. The path is computed by the manipulation planning platform HPP.

This videos explains how we calibrated robot Pyrene by making plane contacts using admittance control

Task sequencing for a mobile manipulator performing deburring by the Generalized Traveling Salesman Problem.

Motion planning for a cleaning robot in 2D environment. This work is the result of a collaboration with BA Systèmes.

Motion planning for an inspection task by a cable driven parallel robot. The motion is planned by the software platform HPP (https://humanoid-path-planner.github.io/hpp-doc). This work is the result of a collaboration with LIRMM and Tecnalia France.

The motion displayed in this movie has been computed using the task and motion planning algorithms implemented in the software platform HPP (https://humanoid-path-planner.github.io/hpp-doc). This work is the result of a collaboration with LIRMM and Tecnalia France.

This video demonstrates an algorithm that computes paths for a humanoid robot that should reach to an object on a table and that lean on the table to reach the object. The ultimate goal of this algorithm is to provide learning input for computing a memory of motion.