Les JNRH (Journées Nationales de Robotique Humanoïde) ont lieu du 10 et 12 juin 2026 à Montpellier.

L'inscription est gratuite.

10 juin

Lieu: salle B5.01.124

14h-18h:  Tutoriel sur les techniques d'optimisation d'ordre zéro pour la robotique. 

11 juin

Lieu: amphi Jean-Jacques Moreau, batiment 2

9h-9h30: Welcome coffee

9h30-11h00:  Session 1 — Locomotion and Whole-Body Control

Keynote: Majid Khadiv (TUM)

TD-CD-MPPI: Temporal-Difference Constraint-Discounted Model Predictive Path Integral Control, Pietro Noah Crestaz (LAAS-CNRS)

11h-11h30: Pause 

11h30-12h30: Session 2  — MPC & Control

Massively Parallel Sequential Quadratic Programming With Inverse Dynamics, Ioannis Tsikelis (Inria Nancy)

COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments, Ege Gursoy  (LAAS-CNRS)

12h30-13h45: Déjeuner

13h45-15h45: Session 3 — Tactile, Force Sensing and Physical Interaction

Keynote: Harold Soh (NUS)

Toward Structured Physical Interaction in Robotics: From Force to  Tactile Feedback, Sébastien Kleff (Inria Bordeaux)   

A Tactile Sensor-Based EKF Estimator to Predict Object-Contact  States During Whole-Body MultiContact Manipulation, Subburaman Rajesh and Olivier Stasse (LAAS-CNRS) 

15h45h-17h: Poster session (with coffee)

17h-18h:  Visite LIRMM

19h: Social dinner

12 juin

8h30-9h: coffee

9h-10h30: Session 5— Learning & Human-Centered Robotics 2h

Yet Another Humanoid Motion Tracking Policy, Fabio Amadio and Enrico Mingo Hoffman (Inria Nancy)

Fast Sampling-Based Model Predictive Shape Control for Soft Object Manipulation using Online Physics-based Simulations, Celia Saghour (LIRMM)

Safe  Human-Aware Manipulation: Combining Vision-Language Models with Constrained MPPI, Maxime Sabbah (LAAS-CNRS)

10h30-11h45: Poster with coffee

11h45-12h45: Keynote: Guillaume Bellegarda (INRIA Hucebot)

12h45-14h: Déjeuner

14h-16h: Session 6 — Biomechanics & rehabilitation 2h

Keynote: Christine Azevedo Coste (INRIA)

Mechanical Stability Constraints to Solve Muscle Redundancy in an Inverse-Dynamics-Based Framework – Application to Human Gait, Raphaël Dumas (Université Gustave Eiffel, LBMC)

Human Kinematics Generation from Ground Reaction Forces using Cross-Attention Diffusion, Kahina Chalabi (LAAS-CNRS)

Two poster sessions are planned. Here is the list of accepted contributions:

1) Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot, Constant Roux (LAAS-CNRS)
2) Balancing Locomotion and Posture: A Reward Design Approach for the Open Duck Mini V2, Ioannis Loizou (Inria Nancy)
3) Latent Conditioned Loco-Manipulation Using Motion Priors, Maciej Stępień (LAAS-CNRS)
4) TD-CD-MPPI: Temporal-Difference Constraint-Discounted Model Predictive Path Integral Control, Pietro Noah Crestaz (LAAS-CNRS)
5) Massively Parallel Sequential Quadratic Programming With Inverse Dynamics, Ioannis Tsikelis (Inria Nancy)
6) COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments, Ege Gursoy  (LAAS-CNRS)
7) Multi-stage Model Predictive Control with Online Intent Estimation for Safe Shared-Workspace Human-Robot Sorting, Tianyi Jin (Inria Bordeaux)
8) Toward Structured Physical Interaction in Robotics: From Force to  Tactile Feedback, Sébastien Kleff (Inria Bordeaux)
9) G-SENSE: Generalized Sensorless External Force Estimation for  Humanoid Robots via Centroidal Dynamics , Chouaib Fedsi, Malik Mallem, and Mohamed Guiatni (Université d’Évry)
10) A Tactile Sensor-Based EKF Estimator to Predict Object-Contact  States During Whole-Body MultiContact Manipulation, Subburaman Rajesh and Olivier Stasse (LAAS-CNRS)
11) Safe  Human-Aware Manipulation: Combining Vision-Language Models with Constrained MPPI, Maxime Sabbah (LAAS-CNRS)
12) Transferring Human Motions to Humanoid Robots from Virtual  Environments, Mariia Berdnyk (Université Côte d’Azur, Inria, I3S)
13) Yet Another Humanoid Motion Tracking Policy, Fabio Amadio and Enrico Mingo Hoffman (Inria Nancy)
14) Deformation Control of Soft Objects with Multi-Arm Robots, Pierre-Antoine Mariot (LIRMM)
15) Hierarchical Quadratic Programming Control for Second-Order Kinematic Dual-Task in a Redundant Hybrid Cable-Driven Robot, Sergio Esteban Quintero Benavides (École Centrale de Nantes)
16) HURo: The HuCeBot Unitree Robot Interface, Ioannis Tsikelis (Inria Nancy)
17) Diffusion-Based Inverse Reinforcement Learning for Human Motion Understanding and Cobotics — Vladimir Celaudoux (LAAS-CNRS, National University of Singapore)
18) Mechanical Stability Constraints to Solve Muscle Redundancy in an Inverse-Dynamics-Based Framework – Application to Human Gait, Raphaël Dumas (Université Gustave Eiffel, LBMC)
19) Human Kinematics Generation from Ground Reaction Forces using Cross-Attention Diffusion, Kahina Chalabi (LAAS-CNRS)
20) Learning Ergonomic Movements for Physically Simulated Digital Human Models, T. Bouyer (CEA)

• Ouverture des inscriptions et soumissions : 1er avril
• Date limite des soumissions :  20 avril  26 avril
• Annonce des contributions retenues : 4 mai
• Fin des inscriptions : 1 juin
• Conférence : 10 au 12 Juin

Nous invitons les auteurs à soumettre un bref résumé de leurs travaux (une ou deux pages au format IEEE en deux colonnes). Les propositions seront évaluées par des membres de la communauté en robotique humanoïde. Les contributions retenues donneront lieu à une présentation orale ou à un poster lors de la conférence.

   Armand Jordana               Philippe Fraisse            Vincent Bonnet             Nicolas Mansard