Antoine Leeman @antoine_leeman Twitter profile

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Antoine Leeman

5 months

🚀 New Paper! 📄✨ In this paper, we propose a *fast* and *scalable* Robust Model Predictive Control, enabling more safety for (agile) robotics! Indeed, most RMPC are not scalable, requiring a system-specific stabilizing controller.

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Antoine Leeman

@antoine_leeman

1 month

Should legged robot use RL or trajectory optimization? #icra2024

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Antoine Leeman

@antoine_leeman

5 months

On my way to spend 6 months at @MIT @MIT_CSAIL in Prof. Tedrake’s lab for a research exchange! 🤖🦾 I am super excited ! 🎉😃

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Antoine Leeman

@antoine_leeman

2 months

MPC can run very fast on tiny hardware! Impressive work! @KhaiNguyenX #icra2024

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Antoine Leeman

@antoine_leeman

1 month

Mujoco predictive control is such an amazing tool! I will try it! #icra2024

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Antoine Leeman

@antoine_leeman

7 months

So excited to go to #CDC2023 in Singapore! 🇸🇬 My talk: safe trajectory optimisation with parametric uncertainties!

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Antoine Leeman

@antoine_leeman

2 months

Very excited to go to @ieee_ras_icra with @eth_en doc.mobility fellowship! Let me know if you would like to discuss about optimization for robotics!

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Antoine Leeman

@antoine_leeman

1 year

If you are at @IFAC2023 , check out our new tube-based MPC formulation, featuring flexible (SLS-)tubes, with attractive computational complexity! #MPC #IFAC #SLS #Robotics

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Antoine Leeman

@antoine_leeman

1 year

I am going !! 🚀🎉

Robust Optimal Control for Nonlinear Systems with Parametric...

This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach...

arxiv.org

IEEE CDC 2024

@IEEECDC2024

1 year

📢Decisions on #CDC2023 have been sent out — check your inbox! Congratulations to all accepted authors 🥳! Are you going to #Singapore this December ✈️?

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Antoine Leeman

@antoine_leeman

1 year

On my way to Philadelphia and @l4dc_conf ! I can’t wait to attend this conference and share insights with many attendees ! #l4dc

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Antoine Leeman

@antoine_leeman

1 year

Congratulations! What an amazing team I am in! 😁👨‍🎓📚🎉

D-MAVT, ETH Zurich

@eth_dmavt

1 year

Congratulations to Professor Melanie Zeilinger for receiving the 2023 European Control Award. The award recognizes her outstanding contributions in the field of systems and control. It was presented at the European Control Conference 2023 in Bucharest, Romania.

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Antoine Leeman

@antoine_leeman

7 months

Interested in robust nonlinear MPC? Don’t miss my presentation at 2:30pm @CDC2023 session: predictive control for nonlinear systems II location: Orchid Junior 4311 paper: code:

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Antoine Leeman

@antoine_leeman

3 months

Very excited for this talk from a @Google president at @MIT_CSAIL ! 💻🔎

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Antoine Leeman

@antoine_leeman

1 year

If you are at @IFAC2023 , don’t miss our presentation tomorrow, 1:30pm, Room 304 (ThB05.1). ⚡️new formulation for robust MPC ⚡️new computational complexity-performance trade-off ⚡️leverages flexible SLS tubes #MPC #IFAC #robotics

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Antoine Leeman

@antoine_leeman

1 year

Introducing our latest paper on robust nonlinear optimal control for safety-critical systems such as robots or spacecrafts! We tackle system uncertainties with a novel approach that minimises offline design effort and conservatism. Check it out! #robotics

Robust Optimal Control for Nonlinear Systems with Parametric...

This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach...

arxiv.org

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Antoine Leeman

@antoine_leeman

1 year

After @l4dc_conf , I am excited to head to @PennEngineers for this week! Send a message if you want to chat about research or collaboration. To see what I've been up to, check out my website:

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Antoine Leeman

@antoine_leeman

1 year

Exciting sessions today! Currently attending a plenary from Aaron Ames !! @l4dc_conf

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Antoine Leeman

@antoine_leeman

1 year

Just attended the engaging #NCCR Automation workshop on Cyber-physical Systems Digitalization #CyDiSy . Insightful sessions, practical demos #LLM , and a network of pros made it inspiring. Thanks to the organisers, speakers & attendees for this enriching event!

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Antoine Leeman

@antoine_leeman

1 year

How to make a learning-based controller safe with minimum intervention? Checkout our new safety filter formulation accepted at @l4dc_conf !

George Pappas

@pappasg69

1 year

The @l4dc_conf conference proceedings are out. Take a look before the conference next week.

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Antoine Leeman

@antoine_leeman

2 months

Diffusion policy can be used for dynamic manipulation! Very cool! @ieee_ras_icra

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Antoine Leeman

@antoine_leeman

7 months

Dual control revisited: I am looking forward to it! #CDC2023

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Antoine Leeman

@antoine_leeman

1 month

@idanbeck I love this one:

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Antoine Leeman

@antoine_leeman

1 year

I am looking forward to attending this conference! Check out my paper on safety filter for unverified learning-based controller:

George Pappas

@pappasg69

1 year

Two tutorials, six exciting keynotes, 16 oral contributions and 100+ poster contributions at the Learning for Dynamics and Control (L4DC 2023) conference. Register early by May 15 at @l4dc_conf @NeurIPSConf #MachineLearning #control #robotics

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Antoine Leeman

@antoine_leeman

3 months

That’s exactly what robust MPC does

Eugene Vinitsky

@EugeneVinitsky

3 months

The unreasonable effectiveness of just adding action noise for closing the sim-to-real gap

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Antoine Leeman

@antoine_leeman

1 year

Thanks a lot for hosting me today! 🚀

Nikolai Matni

@NikolaiMatni

1 year

Thanks @antoine_leeman for visiting and giving a great talk on SLS-based robust and nonlinear MPC!

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Antoine Leeman

@antoine_leeman

1 year

Congratulations to #spacex for this successful #starship flight! Even though the rapid unscheduled disassembly happened before the orbit injection and landing of this biggest rocket ever, more data is the key to higher performance! 🚀🚀

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Antoine Leeman

@antoine_leeman

1 year

For a different perspective of safety filters, come and check out our poster (22) tomorrow at 1pm about a similar tool! @AMBER_lab @l4dc_conf Paper: Code:

Intelligent Control Systems / SLS_safety_filter · GitLab

Matlab implementation of the paper "Predictive Safety Filter using System Level Synthesis"

gitlab.ethz.ch

L4DC Conference

@l4dc_conf

1 year

Asimov really meant control barrier functions when he defined the first law of robotics.⁦ @AMBER_lab ⁩

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Antoine Leeman

@antoine_leeman

2 months

Super excited to attend the workshop on sensing in extreme environments! @ieee_ras_icra

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Antoine Leeman

@antoine_leeman

1 year

Such a fantastic conference with an exciting community! Thanks everyone! Looking forward to the next edition in Oxford 🚀😄

L4DC Conference

@l4dc_conf

1 year

Thank you to everyone who attended, tuned in, and participated this week @l4dc_conf @PennEngineers ! Take a look at the photo albums below and quote tweet us your favorite pics! Tutorials: Day 1: Day 2:

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Antoine Leeman

@antoine_leeman

1 year

New paper submitted to #CDC Soon available on Arxiv! Stay tuned! « Robust Optimal Control for Nonlinear Systems with Parametric Uncertainties »

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Antoine Leeman

@antoine_leeman

1 month

This gives me extra motivation to develop scalable robust MPC! 🦾

Computational Robotics Lab

@crl_ethz

1 month

Do you think your RL policy is robust? Hmmm, maybe it can be even more robust! Please check our recent collaboration with @leggedrobotics on adversarial attacks on RL-based locomotion controllers. Nice work done by @fanshi_robot

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Antoine Leeman

@antoine_leeman

7 months

Very interesting presentation about Port-Hamiltonian systems and GP.

Thomas Beckers

@_ThomasBeckers_

7 months

Great interest in our workshop on Physics-informed learning for control and optimization. We even got more chairs to accommodate everyone. Join us in room Lotus Junior 4DE. #cdc2023 #ieee

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Antoine Leeman

@antoine_leeman

1 year

Very interesting first day of tutorials! I am looking forward to tomorrow! 😄😄

L4DC Conference

@l4dc_conf

1 year

⁦ @Sumeet_Robotics ⁩ moving on to MPC and sequential QPs!

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Antoine Leeman

@antoine_leeman

1 year

Super lucky to be a PhD candidate in this amazing university, ranked 7th in the world, also in engineering ! 👨‍🎓📚

ETH Zurich

@ETH_en

1 year

ETH Zurich moves up two places to 7th in the latest @TopUnis ranking. ETH Zurich maintains its top position in continental Europe thanks to strong scientific publications and a high reputation among researchers. 🏅🌍 #UniversityRankings Learn more: 👇

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Antoine Leeman

@antoine_leeman

2 months

I can’t wait for this plenary talk! #icra2024

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Antoine Leeman

@antoine_leeman

2 months

Hot take: don’t use AI for high speed manipulation! Just use better cameras

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Antoine Leeman

@antoine_leeman

9 months

@IEEECDC2023 I am looking forward to it!

Robust Optimal Control for Nonlinear Systems with Parametric...

This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach...

arxiv.org

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Antoine Leeman

@antoine_leeman

1 month

@ChongZitaZhang I agree. What matters is the (robust) performance of the robot in my opinion.

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Antoine Leeman

@antoine_leeman

2 months

@jbhuang0604 We should add one more level: Kalman Filter 😄😄

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Antoine Leeman

@antoine_leeman

1 year

Very nice and inspiring presentation from @ian__manchester , at the intersection between control theory and neural nets. He presented a very neat way to combine guarantees from CT and performance from NN.

NCCR Automation

@nccr_automation

1 year

And last up for the scientific programme! Arno Schleuter tells us about control theory in #Architecture and @ian__manchester tells us about robust learning for dynamics and control #CyDiSy

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Antoine Leeman

@antoine_leeman

2 months

@lambdaviking @jowenpetty @Ashish_S_AI From a control theory point of view, this result is very natural. Linear state space models may not be able to encode the state of nonlinear systems. Looking forward to seeing more connections!

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Antoine Leeman

@antoine_leeman

1 month

@idanbeck This one is also amazing:

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Antoine Leeman

@antoine_leeman

3 months

Very interesting work: to generalize, robots need to learn from both optimization-based data and human demonstrations

Zico Kolter

@zicokolter

3 months

How do you balance repeat training on high quality data versus adding more low quality data to the mix? And how much do you train on each type? @pratyushmaini and @goyalsachin007 provide scaling laws for such settings. Really excited about the work!

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Antoine Leeman

@antoine_leeman

1 year

Excited to attend the talk of @beenwrekt @nccr_automation

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Antoine Leeman

@antoine_leeman

2 months

How to remove the human bottleneck in agile and robust robotics control? @ieee_ras_icra

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Antoine Leeman

@antoine_leeman

6 months

@DamienERNST1 Happy New year Damien! 🎉

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Antoine Leeman

@antoine_leeman

1 year

3 weeks left !! #robotics #control #safelearning

Learning Systems and Robotics Lab (is hiring!)

@learnsyslab

1 year

Working in learning-based control? Here’s a chance to get your research out! Submit your work to the RA-L special issue for learning for safe and robust control, due March 31. Click here to learn more: @angelaschoellig @MIRMI_TUM @UofTRobotics @VectorInst

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Antoine Leeman

@antoine_leeman

1 month

@GuanyaShi I believe TO could dominate the robustness part

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Antoine Leeman

@antoine_leeman

2 months

@ylecun Agreed! A nonlinear state space model is still a state space model

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Antoine Leeman

@antoine_leeman

1 year

My first optimisation-based guidance paper is officially published! Look it up!

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Antoine Leeman

@antoine_leeman

10 months

I can’t wait to attend!

IEEE CDC 2024

@IEEECDC2024

10 months

Next up in our amazing line-up of plenary speakers: 💫Naomi Ehrich Leonard💫, Princeton, on 'Fast and Flexible Multi-Agent Decision-Making.' Learn about theoretical principles for decentralized decision-making, with many important applications. #CDC2023 #plenary

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Antoine Leeman

@antoine_leeman

6 months

@breadli428 @ETH_AI_Center @ETH_en @leggedrobotics @arkrause Congrats! Exciting journey ahead of you! 🦾

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Antoine Leeman

@antoine_leeman

2 months

@chris_j_paxton @jxmnop The capability wall is probably caused by the data quality. That’s why OpenAI keeps signing new collaborations with newspapers to access more high-quality data. Financial Times is the last example for OpenAI.

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Antoine Leeman

@antoine_leeman

9 months

@learnsyslab @angelaschoellig @lukas_brunke @VectorInst @UofTRobotics @MIRMI_TUM Looking forward to meeting you there!

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Antoine Leeman

@antoine_leeman

1 month

@HDPbilly What’s your favourite way to combine the strength of both?

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Antoine Leeman

@antoine_leeman

1 year

Exciting news! We're preparing to release the safety filter code for open access next week!

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Antoine Leeman

@antoine_leeman

3 months

@akshaykagrawal The question is : what are g_\tau ? 😃

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Antoine Leeman

@antoine_leeman

2 months

I strongly recommend this talk on innovation and sustainability!

TEDxMIT

@TEDxMIT

2 months

Runako Gentles, a senior at MIT and international student from Jamaica, pursuing a degree in Engineering with a focus on environmental engineering, calls for sustainable development and supporting educational curriculums that closes the gap between innovation and sustainability.

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Antoine Leeman

@antoine_leeman

1 year

@perseidas @mechatronichris @IFAC2023 Thanks a lot!

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Antoine Leeman

@antoine_leeman

1 year

@NikolaiMatni Hopefully, it looks equally beautiful during #L4DC ! 😊

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Antoine Leeman

@antoine_leeman

1 year

@imp_aa Congrats!! Looking forward to the presentation!

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Antoine Leeman

@antoine_leeman

1 year

@mechatronichris @IFAC2023 Do you have a link to your paper? I am curious 😁

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Antoine Leeman

@antoine_leeman

2 months

Really curious about this talk! 😄

ICRA

@ieee_ras_icra

2 months

Join us at 9:00am in the National Convention Hall for the #ICRA2024 plenary talk by Prof. Sami Haddadin from the Technical University of Munich (TUM).

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Antoine Leeman

@antoine_leeman

4 months

This definition rings a bell 😇 #Learning4Control #Control4Learning

Yann LeCun

@ylecun

4 months

Lots of confusion about what a world model is. Here is my definition: Given: - an observation x(t) - a previous estimate of the state of the world s(t) - an action proposal a(t) - a latent variable proposal z(t) A world model computes: - representation: h(t) = Enc(x(t)) -

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Antoine Leeman

@antoine_leeman

1 month

@jan_drgona That’s a neat way to combine the pros of both :)

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Antoine Leeman

@antoine_leeman

1 month

@refreshstream I also love trajectory optimization, but the RL controller yields amazing performance

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Antoine Leeman

@antoine_leeman

2 months

Excited to attend TEDxMIT today! 🚀🤩

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Antoine Leeman

@antoine_leeman

9 days

@chris_j_paxton @breadli428 I agree! The agile behaviour is impressive, but I wonder about the robustness

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Antoine Leeman

@antoine_leeman

1 year

@DamienERNST1 Thanks a lot! I feel really lucky to work with this great team ☺️

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Antoine Leeman

@antoine_leeman

1 year

@MUBNiazi Ahahaha funny one!

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Antoine Leeman

@antoine_leeman

1 month

@EngrIUH Warm-starting TO is usually a good idea

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Antoine Leeman

@antoine_leeman

1 year

Congrats!!

D-MAVT, ETH Zurich

@eth_dmavt

1 year

Gioele Zardini, doctoral student with Professor Emilio Frazzoli at the Institute of Dynamic Systems and Control, has been appointed Assistant Professor at MIT, starting in 2024. Congratulations on this great achievement!

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Antoine Leeman

@antoine_leeman

2 months

I have a similar problem: my open-source code permalink is confusing…

Steven Brunton

@eigensteve

2 months

tagging @Google ... maybe someone is listening...

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Antoine Leeman

@antoine_leeman

3 months

@miniapeur Good memories 😊

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Antoine Leeman

@antoine_leeman

1 year

@GioeleZardini @ieee_ras_icra Enjoy ICRA and London! 😄

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Antoine Leeman

@antoine_leeman

1 year

@DamienERNST1 Thanks a lot! 😃

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Antoine Leeman

@antoine_leeman

1 month

@KhaiNguyenX Congrats ! It’s really great work!

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Antoine Leeman

@antoine_leeman

26 days

@merl_news It was nice to meet you!

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Antoine Leeman

@antoine_leeman

1 year

Do you remember when you joined Twitter? I do! #MyTwitterAnniversary

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Antoine Leeman

@antoine_leeman

2 months

@DamienERNST1 @ieee_ras_icra @ETH_en Thanks! First time flying through Hawaii!

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Antoine Leeman

@antoine_leeman

1 year

Highly recommended! Don’t miss it!

NCCR Automation

@nccr_automation

1 year

Invited lecture, hosted by Melanie Zeilinger, all welcome to attend! "Kalman filtering for systems with spatiotemporal dynamics: noise, spatial localization & design of distributed architectures" by @JuncalArbelaiz , June 21, 14:00 in HG D1.1 @ETH

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Antoine Leeman

@antoine_leeman

3 months

@asurobot Yes, I am sure @DJIGlobal will love this, they should develop an Apple Watch app

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Antoine Leeman

@antoine_leeman