Wilson Jallet
Greater Paris Metropolitan Region France
Summary
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Rockstar🎓
Top SchoolWilson Jallet is a quantitative researcher and roboticist with nine years of experience bridging rigorous applied mathematics and real-time optimal control for robotics. He holds a 2024 PhD from Université de Toulouse (LAAS-CNRS / INRIA WILLOW) and prior elite training from École Polytechnique and ENS Paris-Saclay, combining theory in control and numerical optimization with practical implementation. His work spans developing and maintaining core back-end components of influential open-source robotics libraries (Crocoddyl, Pinocchio) and improving simulation and RL environments (Bullet/DeepMimic), reflecting a focus on performant C++ and Python tooling. At Inria he progressed from intern to postdoc working on locomotion and manipulation, and now applies those modeling and computational skills at Capital Fund Management on quantitative research problems. Comfortable across systems, release engineering and bindings, he has a rare mix of low-level engineering rigor and mathematical sophistication that accelerates bringing optimal-control algorithms to real-time systems.
9 years of coding experience
2 years of employment as a software developer
Master's degree, MVA (Mathématiques, Vision, Apprentissage), Master's degree, MVA (Mathématiques, Vision, Apprentissage) at ENS Paris-SaclayDoctor of Philosophy - PhD, Computer Science - Robotics and Automation, Doctor of Philosophy - PhD, Computer Science - Robotics and Automation at Université Paul Sabatier Toulouse IIIEngineering Degree, Applied Mathematics, Computer Science, Engineering Degree, Applied Mathematics, Computer Science at École PolytechniqueCPGE, Classes préparatoires MP*, Admitted into École polytechnique, CPGE, Classes préparatoires MP*, Admitted into École polytechnique at Lycée Louis-le-Grand
French, English, Chinese, German
Stackoverflow
143reputation
5kreached
0answers
1question
Github Skills (41)
code-optimization10
conda-forge10
robotics10
c-language10
python10
simulator10
scripting10
dynamic10
bash10
cmake10
reinforcement-learning10
dynamics10
control-theory10
controls10
script10
Programming languages (15)
Github contributions (5)
loco-3d/crocoddyl
Dec 2021 - Jan 2023
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
Role in this project:
Back-end Developer
Back-end DeveloperContributions:4 reviews, 8 commits, 8 PRs in 1 year 1 month
Contributions summary:Wilson primarily contributed to the Crocoddyl library by addressing compiler errors, refactoring code, and improving the codebase's compatibility with different compilers and libraries like Pinocchio. Their work involved modifying core files, adapting to different shared pointer implementations and cleaning up redundant includes. They also worked on bindings, specifically Python bindings, renaming variables and correcting signatures to improve usability.
sequencecode-generationmodel-predictive-controloptimal-controllegged-robotics
stack-of-tasks/pinocchio
Jul 2021 - Dec 2021
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Role in this project:Backend Developer
Backend DeveloperContributions:21 reviews, 5 commits, 9 PRs in 4 months
Contributions summary:Wilson primarily contributed to the visualization aspects of the `pinocchio` library. They implemented the `captureImage` method for the `MeshcatVisualizer`, enabling image capturing functionality. Furthermore, they exposed the `dIntegrateTransport` algorithm in the Python bindings. Their work also involved bug fixes, such as removing a warning message in the `MeshcatVisualizer` code, and minor code corrections like fixing typos.
code-generationpythonautomatic-differentiationc-plus-pluspinocchio
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