From the 1 of 8 linked papers with an AI index.
8 papers
Native Extrapolation Awareness in Flow-Based Conditional Generation
Constantinos Tsakonas, Serena Ivaldi, Jean-Baptiste Mouret
The paper proposes Diverging Flows, a method that augments flow-based conditional generative models with built‑in detection of off‑manifold (extrapolation) inputs, improving safety…
Failure Identification in Imitation Learning Via Statistical and Semantic Filtering
Quentin Rolland, Fabrice Mayran de Chamisso, Jean-Baptiste Mouret
Imitation learning (IL) policies in robotics deliver strong performance in controlled settings but remain brittle in real-world deployments: rare events such as hardware faults, de…
From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition
Fabio Amadio, Clemente Donoso, Dionis Totsila +6
This paper describes the Inria team's integrated robotics system used in the 1st euROBIN coopetition, during which service robots performed voice-activated household tasks in a kit…
Extremum Flow Matching for Offline Goal Conditioned Reinforcement Learning
Quentin Rouxel, Clemente Donoso, Fei Chen +2
Imitation learning is a promising approach for enabling generalist capabilities in humanoid robots, but its scaling is fundamentally constrained by the scarcity of high-quality exp…
Safe Bimanual Teleoperation with Language-Guided Collision Avoidance
Dionis Totsila, Clemente Donoso, Enrico Mingo Hoffman +2
Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating di…
Words2Contact: Identifying Support Contacts from Verbal Instructions Using Foundation Models
Dionis Totsila, Quentin Rouxel, Jean-Baptiste Mouret +1
This paper presents Words2Contact, a language-guided multi-contact placement pipeline leveraging large language models and vision language models. Our method is a key component for…