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cs.RO2026
Autonomously Acquiring Robot Manipulation Skills with Language-Driven Quality-Diversity
Émiland Garrabé, Mahdi Khoramshahi, Stéphane Doncieux
Quality-diversity (QD) algorithms have been gaining traction in robot learning, where diverse motion primitive libraries allow robots to adapt zero-shot to constraints at deploymen…
cs.RO2024
Task-Aware Robotic Grasping by evaluating Quality Diversity Solutions through Foundation Models
Aurel X. Appius, Emiland Garrabe, Francois Helenon +3
Task-aware robotic grasping is a challenging problem that requires the integration of semantic understanding and geometric reasoning. This paper proposes a novel framework that lev…
cs.RO2024
Enhancing Robustness in Language-Driven Robotics: A Modular Approach to Failure Reduction
Émiland Garrabé, Pierre Teixeira, Mahdi Khoramshahi +1
Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, e…