From the 1 of 3 linked papers with an AI index.
3 papers
Safe Execution of RL Policies Via Acceleration-Based CBF-QP Constraint Enforcement for Real-World Robotic Deployments
Bastien Muraccioli, Alice Cariou, Pierre-Alexandre Leziart +4
The paper presents Acc-CBF-QP, an acceleration-based quadratic program safety filter that enforces control barrier function constraints on any reinforcement‑learning policy at runt…
Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications
Bastien Muraccioli, Mathieu Celerier, Mehdi Benallegue +1
Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0, which focuses on human-centric approaches. However, few studies explore the practical alignment o…
Scalable, Training-Free Visual Language Robotics: A Modular Multi-Model Framework for Consumer-Grade GPUs
Marie Samson, Bastien Muraccioli, Fumio Kanehiro
The integration of language instructions with robotic control, particularly through Vision Language Action (VLA) models, has shown significant potential. However, these systems are…