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Author

Simon Le Cleac’h

Observed names: Cleac'H, Simon Le, Cleac'h, Simon Le, Cléac'h, Simon Le, Simon Le Cleac'h, Simon Le Cleac’h
ORCID: 0000-0002-7430-8396
Observed ORCID: 0000-0002-7430-8396
OpenAlex ID: A5018144391
Dojo: A Differentiable Physics Engine for Robotics
2022 · Howell, Taylor A., Cleac'h, Simon Le, et al. · arXiv (Cornell University) · 141
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Fast Contact-Implicit Model Predictive Control
2024 · Simon Le Cleac'h, Taylor A. Howell, et al. · IEEE Transactions on Robotics · 126
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ALGAMES: a fast augmented Lagrangian solver for constrained dynamic games
2021 · Simon Le Cleac’h, Mac Schwager, et al. · Autonomous Robots · 85
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ALGAMES: A Fast Solver for Constrained Dynamic Games
2020 · Simon Le Cleac'h, Mac Schwager, et al. · Robotics: Science and Systems · 67
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LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning
2021 · Simon Le Cleac'h, Mac Schwager, et al. · IEEE Robotics and Automation Letters · 62
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Differentiable Physics Simulation of Dynamics-Augmented Neural Objects
2023 · Simon Le Cleac'h, Hong-Xing Yu, et al. · IEEE Robotics and Automation Letters · 39
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Trajectory Optimization with Optimization-Based Dynamics
2022 · Taylor A. Howell, Simon Le Cleac'h, et al. · IEEE Robotics and Automation Letters · 32
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CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints
2023 · Taylor A. Howell, Kevin Tracy, et al. · Springer proceedings in advanced robotics · 16
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Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
2026 · Zhang, John Z., Sorokin, Maks, et al. · arXiv (Cornell University) · 12
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Single-Level Differentiable Contact Simulation
2023 · Simon Le Cleac'h, Mac Schwager, et al. · IEEE Robotics and Automation Letters · 11
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Versatile Loco-Manipulation through Flexible Interlimb Coordination
2025 · Zhu, Xinghao, Chen, Yuxin, et al. · arXiv (Cornell University) · 9
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Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation
2024 · Brüdigam, Jan, Abbas, Ali-Adeeb, et al. · arXiv (Cornell University) · 6
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Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels
2021 · Remy Derollez, Simon Le Cleac'h, et al. · IEEE Aerospace Conference (AERO) · 6
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Linear Contact-Implicit Model-Predictive Control.
2021 · Simon Le Cleac’h, Taylor A. Howell, et al. · arXiv (Cornell University) · 5
Generative Models From and for Sampling-Based MPC: A Bootstrapped Approach for Adaptive Contact-Rich Manipulation
2026 · Lara Brudermüller, Brandon Hung, et al. · IEEE Robotics and Automation Letters · 4
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Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control
2026 · Albert H. Li, John Zhang, et al. · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · 2
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Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL
2026 · Schuck, Martin, Sorokin, Maks, et al. · arXiv (Cornell University) · 1
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Learning Multi-Phase Robot Loco-Manipulation via Phase-Conditioned Policy Optimization
2026 · Manni, Simone, Wollschläger, Annika, et al. · arXiv (Cornell University)
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Works count: 18
Citation count: 624
H-index: 10
I10-index: 10
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