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2024

  • PROXDDP: Proximal Constrained Trajectory Optimization
    W. Jallet, A. Bambade, E. Arlaud, S. El-Kazdadi, N. Mansard, J. Carpentier
    preprint for IEEE Transactions on Robotics
    Paper Code

  • Proxqp: an efficient and versatile quadratic programming solver for real-time robotics applications and beyond
    A. Bambade, F. Schramm, S. El Kazdadi, S. Caron, A. Taylor, J. Carpentier
    preprint for IEEE Transactions on Robotics
    Paper Companion Report Code

  • Primal-Dual Proximal Augmented Lagrangian Methods for Quadratic Programming: Theory & Implementation
    A. Bambade
    PhD Thesis, ENS & INRIA Paris
    Thesis Slides

  • Leveraging augmented-Lagrangian techniques for differentiating over infeasible quadratic programs in machine learning
    A. Bambade, F. Schramm, A. Taylor, J. Carpentier
    Twelfth International Conference on Learning Representations
    Paper Slides

2023

  • Differentiable Collision Detection: a Randomized Smoothing Approach
    L. Montaut, Q. L. Lidec, A. Bambade, V. Petrik, J. Sivic and J. Carpentier
    IEEE International Conference on Robotics and Automation
    Paper

2022

  • PROX-QP: Yet another Quadratic Programming Solver for Robotics and beyond
    A. Bambade, S. El Kazdadi, A. Taylor, J. Carpentier
    RSS 2022-Robotics: Science and Systems
    Paper Code

  • ProxNLP: Yet another Quadratic Programming Solver for Robotics and beyond
    W. Jallet, A. Bambade, N. Mansard, J. Carpentier
    6th Legged Robots Workshop, IEEE International Conference on Robotics and Automation 2022
    Paper Code

  • Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach
    W. Jallet, A. Bambade, N. Mansard, J. Carpentier
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022
    Paper