7 papers · 1 filter
SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending
Yuxuan Kuang, Haoran Geng, Amine Elhafsi +5
Humanoid robots hold significant potential in accomplishing daily tasks across diverse environments thanks to their flexibility and human-like morphology. Recent works have made si…
Scan, Materialize, Simulate: A Generalizable Framework for Physically Grounded Robot Planning
Amine Elhafsi, Daniel Morton, Marco Pavone
Autonomous robots must reason about the physical consequences of their actions to operate effectively in unstructured, real-world environments. We present Scan, Materialize, Simula…
Real-Time Anomaly Detection and Reactive Planning with Large Language Models
Rohan Sinha, Amine Elhafsi, Christopher Agia +3
Foundation models, e.g., large language models (LLMs), trained on internet-scale data possess zero-shot generalization capabilities that make them a promising technology towards de…
Semantic Anomaly Detection with Large Language Models
Amine Elhafsi, Rohan Sinha, Christopher Agia +3
As robots acquire increasingly sophisticated skills and see increasingly complex and varied environments, the threat of an edge case or anomalous failure is ever present. For examp…
MATS: An Interpretable Trajectory Forecasting Representation for Planning and Control
Boris Ivanovic, Amine Elhafsi, Guy Rosman +2
Reasoning about human motion is a core component of modern human-robot interactive systems. In particular, one of the main uses of behavior prediction in autonomous systems is to i…
Map-Predictive Motion Planning in Unknown Environments
Amine Elhafsi, Boris Ivanovic, Lucas Janson +1
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods…