My up-to-date publications list is also available on Google Scholar.
    2. KleffTactile icon
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      Sébastien Kleff, L. Joseph, V. Padois, "Geometrically Consistent Tactile Servoing via Hybrid Force-Position Control at the Center of Pressure", IEEE Robotics and Automation Letters, 2026.
      Preprint Video
    4. JordanaSQP icon
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      A. Jordana*, Sébastien Kleff*, A. Meduri*, J. Carpentier, N. Mansard, L. Righetti, "Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control", IEEE Transactions on Robotics, 2025.
      Paper Video Code
    6. KleffTRO icon
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      Sébastien Kleff, A. Jordana, N. Mansard, L. Righetti, "Force Feedback Model Predictive Control: A Soft Contact Approach", Preprint, 2025.
      Preprint Video Code
    8. WojciechowskiDeburring icon
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      K. Wojciechowski, E. Gursoy, A. Haffemayer, Sébastien Kleff, V. Bonnet, F. Lamiraux, N. Mansard, "Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring", Preprint, 2025.
      Paper Video Code
    10. JordanaValue2025 icon
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      A. Jordana, Sébastien Kleff, A. Haffemayer, J. Ortiz-Haro, J. Carpentier, N. Mansard, L. Righetti, "Infinite-Horizon Value Function Approximation for Model Predictive Control", IEEE Robotics and Automation Letters, 2025.
      Paper Video Code
    12. JordanaICRA24 icon
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      A. Jordana*, Sébastien Kleff*, J. Carpentier, N. Mansard, L. Righetti, "Force Feedback Model-Predictive Control via Online Estimation", in IEEE International Conference on Robotics and Automation (ICRA), 2024.
      Paper Video Code
    14. Parag2022 icon
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      A. Parag, Sébastien Kleff, L. Saci, N. Mansard, O. Stasse, "Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence properties", IEEE International Conference on Robotics and Automation (ICRA), 2022.
      Paper Video Code
    16. KleffHumanoids22 icon
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      Sébastien Kleff, J. Carpentier, N. Mansard, L. Righetti, "On the Derivation of the Contact Dynamics in Arbitrary Frames (Application to Polishing with Talos)", IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2022.
      Paper Video Code
    18. KleffIROS22 icon
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      Sébastien Kleff, E. Dantec, G. Saurel, N. Mansard, L. Righetti, "Introducing Force Feedback in Model Predictive Control", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
      Paper Video
    20. Gazar22 icon
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      A. Gazar, M. Khadiv, Sébastien Kleff, A. D. Prete, L. Righetti, "Nonlinear stochastic trajectory optimization for centroidal momentum motion generation of legged robots", The International Symposium of Robotics Research, ISR 2022, 2022.
      Paper Video
    22. KleffICRA21 icon
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      Sébastien Kleff, A. Meduri, R. Budhiraja, N. Mansard, L. Righetti, "High-Frequency Nonlinear Model Predictive Control of a Manipulator", IEEE International Conference on Robotics and Automation (ICRA), 2021.
      Paper Video Code
    24. KleffRobotica20 icon
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      Sébastien Kleff, N. Li, "Robust Motion Planning in Dynamic Environments Based on Sampled-Data Hamilton-Jacobi Reachability", Robotica, 2020.
      Paper
    26. KleffCCDC2018 icon
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      Sébastien Kleff, N. Li, "A sampled-data Hamilton-Jacobi reachability approach to safe and robust motion planning", Chinese Control And Decision Conference (CCDC), 2018.
      Paper
    28. Khadiv2017 icon
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      M. Khadiv, Sébastien Kleff, A. Herzog, S. A. A. Moosavian, S. Schaal, L. Righetti, "Stepping stabilization using a combination of DCM tracking and step adjustment", 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, 2016.
      Paper
Authors marked with * contributed equally to this work.