The JNRH (Journées Nationales de Robotique Humanoïde) will be held from June 10 to June 12, 2026 in Montpellier.

The JNRH serve as the main French-speaking forum for the academic and industrial community studying humanoid robots, with openings onto all legged robots, biomechanics and the study of complex poly-articulated systems interacting physically and cognitively with their environment. The aim of these days is to bring together the national research community around the many scientific issues involved in humanoid robotics: mechanical and mechatronics design, modeling and simulation, control, digital optimization, planning, learning, perception, motion analysis, etc. These days also enable us to open up our research to the sciences of movement in the broadest sense, in particular the study of natural movement, biomechanics, neuroscience, human-robot interaction and the study of exoskeletons and prostheses. PhD students, post-docs and researchers are invited to present their latest work and issues of interest in open scientific discussions and friendly exchanges. It will also be an opportunity to discuss the organization and unifying projects of our community.

Registration is free.

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) 

15h45-17h: 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)
21) Multimodal Intent Grounding via POMDP-Guided Interaction, Wanchen Li (LIRMM)

• Submission opening: April 1
• Submission deadline: April 20 April 26
• Notification of accepted contributions: May 4
• Registration deadline:  June 1
• Conference: June 10–12

A brief summary of your work (one or two pages in IEEE two-column format) is required. This abstract will be peer-reviewed by members of the humanoid robotics community. Accepted submissions will be presented either as an oral presentation or as a poster.

   Armand Jordana               Philippe Fraisse            Vincent Bonnet             Nicolas Mansard