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clementdumeril/README.md

Clément Dumeril

MEng student in Control of Robotic and Autonomous Systems at UC Berkeley (May 2027); capstone at the Agile Robotics and Perception Lab (Prof. Giuseppe Loianno). I work on model-based control and learned dynamics models for robots.

  • Fixed-Wing: fixed-wing simulator where SAC policies fly the control surfaces; in wind, the best of 3 seeds completes 99 of 100 test flights, a PID 97.
  • turtlebot-nmpc: acados NMPC that predicts lidar-tracked obstacles 3 s ahead; in Webots it avoided a person crossing at 0.5 m/s in 6 of 7 runs, Nav2 MPPI in none of 3.
  • WingJEPA: latent world models of a fixed-wing UAV; in calm air, a physics head predicts open loop within tolerance for a median 11.4 s, plain JEPA 1.9 s.
  • GeneticWing: flatness-based soaring trajectory planning in simulation, with a flow-matching student that plans in 30 to 50 ms.
  • ur-pen-signature: a UR7e grasps a pen with residual PPO and signs with force control, in MuJoCo: 84% grasp success under camera error, against 74% scripted.
  • PIXIE: reimplementation of PIXIE (6D pose from one RGB photo and a CAD model), plus a per-part assembly check.

Also: quadrotor-ros2, ur5e-neural-kinematics.

Website · CV · LinkedIn

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  1. ur5e-neural-kinematics ur5e-neural-kinematics Public

    Neural IK for a UR5e trained through differentiable FK: 0.19 mm error, 0.53 ms per solve, Webots pick-and-place

    Python

  2. Djembe Djembe Public

    Graph network that predicts and generates the soloist in Malian jembe ensembles, stroke by stroke, from the IEMP corpus

    Python

  3. quadrotor-ros2 quadrotor-ros2 Public

    acados NMPC vs cascaded geometric control for a quadrotor in ROS 2 Jazzy and Webots, with wind and payload tests

    Python

  4. Fixed-Wing Fixed-Wing Public

    Low-level SAC control of a fixed-wing UAV vs a cascaded PID: NumPy and C++ (RLtools) simulator, PX4 SITL via ROS 2

    C++

  5. GeneticWing GeneticWing Public

    Soaring planner for a simulated sailplane: genetic search in a learned command space, distilled into a 0.24 s generator

    Python

  6. WingJEPA WingJEPA Public

    Learned world models of a fixed-wing UAV: JEPA, direct and physics-head models compared open loop in 6-DoF simulation

    Python 1