About

I’m a PhD student passionate about motion planning and advanced control problems, with a particular focus on dynamic collision avoidance in changing environments. My research sits at the intersection of control theory, optimization, and machine learning, aiming to develop robust and reactive solutions for real-time robotic motion.

I’m supervised by Nicolas Mansard and Florent Lamiraux.

I work in the GEPETTO Team, which specializes in humanoid robotics.

I graduated from Arts Et Métiers and Sorbonne Université, where I specialized in robotics and mechanical engineering.

Publications

• Winter 2024: Infinite-Horizon Value Function Approximation for Model Predictive Control. Armand Jordana, Sébastien Kleff, Arthur Haffemayer, Joaquim Ortiz-Haro, Justin Carpentier, Nicolas Mansard, Ludovic Righetti. Submitted to Robotics and Automation Letters (RA-L). Paper here.

• Winter 2024: Collision Avoidance in Model Predictive Control using Velocity Damper.
  Arthur Haffemayer, Armand Jordana, Ludovic de Matteïs, Krzysztof Wojciechowski, Ludovic Righetti, Florent Lamiraux, Nicolas Mansard.
  Published at ICRA 2025.
  Paper, video and open-source implementation here.

• Spring 2024: Model Predictive Control under Hard Collision Avoidance Constraints for a Robotic Arm.
  Arthur Haffemayer, Armand Jordana, Médéric Fourmy, Krzysztof Wojciechowski, Guilhem Saurel, Vladimír Petrík, Florent Lamiraux, Nicolas Mansard. Published at International Conference on Ubiquitous Robots (UR). Paper, video and open-source implementation here.