4 papers · 1 filter
FlowMaps: Modeling Long-Term Multimodal Object Dynamics with Flow Matching
Francesco Argenziano, Miguel Saavedra-Ruiz, Sacha Morin +3
Joint spatial and temporal understanding of 3D scenes is a crucial requirement for robots deployed in everyday household environments. Such agents must not only comprehend and navi…
PerceptTwin: Semantic Scene Reconstruction for Iterative LLM Planning and Verification
Charlie Gauthier, Sacha Morin, Liam Paull
Simulation environments are useful for both robot policy learning and planning verification and validation. Traditionally, the process of creating a simulation was onerous. Creatin…
Agentic Scene Policies: Unifying Space, Semantics, and Affordances for Robot Action
Sacha Morin, Kumaraditya Gupta, Mahtab Sandhu +4
Executing open-ended natural language queries is a core problem in robotics. While recent advances in imitation learning and vision-language-actions models (VLAs) have enabled prom…
Dynamic Objects Relocalization in Changing Environments with Flow Matching
Francesco Argenziano, Miguel Saavedra-Ruiz, Sacha Morin +2
Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households o…