Joseph Amigo — accepted AI-conference papers

2026

WorldPlanner: Monte Carlo Tree Search and MPC with Action-Conditioned Visual World Models

Rooholla Khorrambakht, Joaquim Ortiz-Haro, Joseph Amigo, Omar Mostafa, Daniel Dugas, Franziska Meier +1

ICRA 2026poster

Robots must understand their environment from raw sensory inputs and reason about the consequences of their actions in it to solve complex tasks. Behavior Cloning (BC) leverages task-specific human demonstrations to learn this knowledge as end-to-end policies. However, these policies are difficult t…

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2025

First Order Model-Based RL through Decoupled Backpropagation

Joseph Amigo, Rooholla Khorrambakht, Elliot Chane-Sane, Nicolas Mansard, Ludovic Righetti

CoRL 2025poster

There is growing interest in reinforcement learning (RL) methods that leverage the simulator's derivatives to improve learning efficiency. While early gradient-based approaches have demonstrated superior performance compared to derivative-free methods, accessing simulator gradients is often impracti…

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2024

SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience

Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard

CoRL 2024poster

Parkour poses a significant challenge for legged robots, requiring navigation through complex environments with agility and precision based on limited sensory inputs. In this work, we introduce a novel method for training end-to-end visual policies, from depth pixels to robot control commands, to a…

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