5 papers
MAGMA-GEN: Validated Recovery Supervision from Ambiguous Failures via Counterfactual Re-Execution
Loan Bernat, Matthieu Grard, Ariane Herbulot +1
Hierarchical robotic systems executing long-horizon manipulation tasks must make high-level semantic decisions that orchestrate stochastic low-level skills. In this setting, failed…
Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring
Krzysztof Wojciechowski, Ege Gursoy, Arthur Haffemayer +4
Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industr…
Warm-Starting Collision-Free Model Predictive Control With Object-Centric Diffusion
Arthur Haffemayer, Alexandre Chapin, Armand Jordana +4
Acting in cluttered environments requires predicting and avoiding collisions while still achieving precise control. Conventional optimization-based controllers can enforce physical…
Humanoid Robot Whole-body Geometric Calibration with Embedded Sensors and a Single Plane
Thanh D V Nguyen, Vincent Bonnet, Pierre Fernbach +2
Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significan…
Multi-step manipulation task and motion planning guided by video demonstration
Kateryna Zorina, David Kovar, Mederic Fourmy +5
This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-establ…