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Simon LE

As seen in: arXiv, PeerJ
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Articles by Simon LE

Computer Science > Robotics

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By Simon LE
| arXiv
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
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Computer Science > Robotics

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By Simon LE
| arXiv
Integrating locomotion and manipulation is essential for robot autonomy, but scaling standard Reinforcement Learning (RL) to complex tasks is severely bottlenecked by the slow, manual process of dense reward shaping. To bypass this limitation, we leverage Sample-based Model Predictive Control (SMPC) entirely in simulation as an automated, rapidly tunable expert to generate massive offline datasets.
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Generative Models From and For Sampling-Based MPC: A Bootstrapped Approach For Adaptive Contact-Rich Manipulation

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By Simon LE
| arXiv
arXiv:2510.14643 (cs) View PDF HTML (experimental) Comments: Subjects: Robotics (cs.RO) Cite as: arXiv:2510.14643 [cs.RO] (or arXiv:2510.14643v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2510.14643 Submission history From: Lara Brudermüller [ view email] [v1] Thu, 16 Oct 2025 12:55:28 UTC (8,458 KB) Bibliographic Tools Bibliographic Explorer Toggle Bibliographic Explorer () Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is...
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Association between lactic acidosis and multiple organ dysfunction syndrome after cardiopulmonary bypass

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By Vincent JL, Henry TD, Simon LE, Philip MA
| PeerJ
Association between lactic acidosis and multiple organ dysfunction syndrome after cardiopulmonary bypass 1Department of Critical Care Medicine, Taizhou Hospital of Zhejiang Province, Wenzhou Medical University, Linhai, China 2Department of Cardiothoracic Surgery, Taizhou Hospital of Zhejiang Province, Wenzhou Medical University, Linhai, China DOI 10.7717/peerj.16769 Academic Editor Ghanshyam Palamaner Subash Shantha Subject Areas Cardiology, Emergency and Critical Care, Epidemiology, Internal...
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Dojo: A Differentiable Physics Engine for Robotics

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By Simon LE, J. Zico, Simon Le Cleac'h, Qianzhong Chen
| arXiv
[Submitted on 2 Mar 2022 ( v1 ), last revised 26 Aug 2025 (this version, v5)] Title:Dojo: A Differentiable Physics Engine for Robotics View a PDF of the paper titled Dojo: A Differentiable Physics Engine for Robotics, by Taylor A. Howell and Simon Le Cleac'h and Jan Br\"udigam and Qianzhong Chen and Jiankai Sun and J.
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