I am a robotics researcher based in Paris, France. I obtained a Ph.D in Dec, 2024 at LAAS-CNRS, where I was advised by Florent Lamiraux and Vincent Bonnet and supported by CIFRE contract 2021-2024 (by TOWARD - now Pal France). My research interests include: - Robot modeling - System identification - Robot control - Reinforcement learning - DIY robotics I occasionally write about my research and personal projects on this blog.
This paper presents a novel method for whole-body geometric calibration of humanoid robots using a single plane, embedded sensors, and an admittance controller, introducing the IROC algorithm for optimal posture selection that achieved 2.3x accuracy improvement on the TALOS robot.
This paper improves mobile manipulator accuracy by modeling geometric and non-geometric parameters including base suspension and joint backlash, achieving 60% better end-effector pose estimation on the TIAGo robot.
This paper introduces FIGAROH, a Python toolbox for geometric calibration and dynamic identification of robots and humans that automates model building, data processing, and optimal trajectory generation.
This paper improves twisting string actuation efficiency through non-cylindrical wrapping rods and compliant adapters, demonstrating enhanced mechanical advantage and speed for robotic applications.
May 14, 2025
Preparing for the LeRobot Global Hackathon 2025 meant building a complete SO-ARM100 stack—from 3D-printed parts all the way to learning-enabled manipulation demos. This guide distills what worked for me into a reusable playbook. It leans on the internal project notes in the fullstack-manip repository and should help you bring up your own SO-ARM, extend it to other manipulators, and plan a month-long sprint from research to evaluation.