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Sebastien Kleff

4 accepted papers

2026

Infinite-Horizon Value Function Approximation for Model Predictive Control

Armand Jordana, Sebastien Kleff, Arthur Haffemayer, Joaquim Ortiz-Haro, Justin Carpentier, Nicolas Mansard +1
ICRA 2026poster

Model Predictive Control has emerged as a popular tool for robots to generate complex motions. However, the real-time requirement has limited the use of hard constraints and large preview horizons, which are necessary to ensure safety and stability. In practice, practitioners have to carefully desig…

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2026

Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring

Krzysztof Wojciechowski, Ege Gursoy, Arthur Haffemayer, Sebastien Kleff, Vincent Bonnet, Florent Lamiraux +1
ICRA 2026poster

Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industrial tasks under collision constraints. Deburring in particular requires precise tool insertion, stable force regulation,…

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2026

Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control

Armand Jordana, Sebastien Kleff, Avadesh Meduri, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
ICRA 2026poster

The promise of model-predictive control (MPC) in robotics has led to extensive development of efficient numerical optimal control solvers in line with differential dynamic programming because it exploits the sparsity induced by time. In this work, we argue that this effervescence has hidden the fact…

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2021

High-Frequency Nonlinear Model Predictive Control of a Manipulator

Sebastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, Ludovic Righetti
ICRA 2021poster

Model Predictive Control (MPC) promises to endow robots with enough reactivity to perform complex tasks in dynamic environments by frequently updating their motion plan based on measurements. Despite its appeal, it has seldom been deployed on real machines because of scaling constraints. This paper…

Cited by 93Source ↗Scholar ↗