20 citations · 37 across the 10 of their papers we have counts for
4 papers · 1 filter
Learning Task and Motion Plans from Real Demonstrations with Hybrid Flow Matching
Zuleika Redondo Garcia, Andreu Matoses Gimenez, Javier Alonso-Mora
Long-horizon mobile manipulation requires a task plan and the motion that executes it. Generative planners trained on demonstration produce both in one pass, requiring neither a sy…
Flow Policies as Actions of Skill-Level World Models: Learned and Symbolic Abstractions for Long-Horizon Planning
Andreu Matoses Gimenez, Andrei-Carlo Papuc, Chris Pek +1
Latent world models enable robots to plan by predicting the consequences of actions. Planning long tasks with control-rate actions requires many prediction steps, which enlarges th…
Curve-Induced Dynamical Systems on Riemannian Manifolds and Lie Groups
Saray Bakker, Martin Schonger, Tobias Löw +2
Deploying robots in household environments requires safe, adaptable, and interpretable behaviors that respect the geometric structure of tasks. Often represented on Lie groups and…
Impact-Robust Posture Optimization for Aerial Manipulation
Amr Afifi, Ahmad Gazar, Javier Alonso-Mora +2
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the b…