Stéphane Caron . Under review. Abstract ¶ In legged locomotion, divergent components of motion (DCMs) have emerged as characteristic states for balance control. They isolate the unstable mode of the dynamics but, in existing formulations, apply only to reduced models such as the linear inverted pendulum. In this study, we show how …
Over the past few months, I've been experimenting with migrating projects from GitHub to Codeberg . Four projects in, I've found that the main non-trivial step is migrating continuous integration (CI) from GitHub Actions to Codeberg's instance of Woodpecker CI. Other steps are generally straightforward, as Codeberg is mostly at feature …
Valentin Tordjman--Levavasseur , Stéphane Caron . To be presented at IROS 2026. Abstract ¶ Collision avoidance can be checked in explicit environment models such as elevation maps or occupancy grids, yet integrating such models with a locomotion policy requires accurate state estimation. In this work, we consider the question of collision avoidance from …
Humanoid robot walking with variable center-of-mass height The variable-height inverted pendulum is a point mass model that extends the linear inverted pendulum model by removing its constant center-of-mass height assumption. This extension introduces a new control input, the leg stiffness, that enables a "height-variation strategy" for balance recovery and locomotion …
Talk given at FOSDEM 2026 in the Robotics and Simulation developer room on 31 January 2026. Abstract ¶ In this talk , we will discuss the open hardware and open-source software available today for creating open-source robots, taking the Upkie wheeled bipeds as our working example. On the software side, we will …
Silvère Bonnabel and Stéphane Caron . Fall 2025 course at Master MVA , Paris. Abstract ¶ Robotics is about producing motion. In this lecture, we dive into the mathematical representation of robots as articulated systems of rigid bodies, and define formally what motion means. We start by defining the concepts of translation, rotation …
Silvère Bonnabel , Stéphane Caron , Justin Carpentier , Ajay Sathya and Pierre-Brice Wieber . Fall 2025 course at Master MVA , Paris. Abstract ¶ A large part of the recent progress in robotics has sided with advances in machine learning, optimization and computer vision. The objective of this course is to introduce the general conceptual …
Talk given at the Harada Lab , The University of Osaka, on 6 October 2025, and at LAAS-CNRS on 24 October 2025. Abstract ¶ The terms "model-free" and "model-based" can blur communication between robotics and machine learning communities. For example, "model-free" reinforcement learning trains motion policies in simulation—yet the simulator itself …
Stéphane Caron , Justin Carpentier and Yann de Mont-Marin . Fall 2025 course at École normale supérieure , Paris. Résumé ¶ La planification de mouvement s’intéresse au calcul automatique de chemins sans collision pour un système mécanique (robot mobile, bras manipulateur, personnage animé...) évoluant dans un environnement encombré d’obstacles. Les méthodes consistent …
Talk given at the CoRL 2025 workshop on Open-Source Hardware in the Era of Robot Learning on 27 September 2025. Abstract ¶ What makes a robot "open source"? Is it the license, the build instructions, the software? In this presentation, we will recall the principles in The Open Source Definition, originally …