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Controlling Intent Expressiveness in Robot Motion with Diffusion Models
Wenli Shi, Clemence Grislain, Olivier Sigaud +1
Legibility of robot motion is critical in human-robot interaction, as it allows humans to quickly infer a robot's intended goal. Although traditional trajectory generation methods…
I-FailSense: Towards General Robotic Failure Detection with Vision-Language Models
Clemence Grislain, Hamed Rahimi, Olivier Sigaud +1
Language-conditioned robotic manipulation in open-world settings requires not only accurate task execution but also the ability to detect failures for robust deployment in real-wor…
VIPER: Visual Perception and Explainable Reasoning for Sequential Decision-Making
Mohamed Salim Aissi, Clemence Grislain, Mohamed Chetouani +3
While Large Language Models (LLMs) excel at reasoning on text and Vision-Language Models (VLMs) are highly effective for visual perception, applying those models for visual instruc…