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Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos
Constant Roux, Ludovic De Matteïs, Armand Jordana +4
Imitation Learning from monocular video demonstrations provides a scalable approach for teaching complex skills to humanoid robots. However, translating human motion to humanoids r…
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…
Coupled Local and Global World Models for Efficient First Order RL
Joseph Amigo, Rooholla Khorrambakht, Nicolas Mansard +1
World models offer a promising avenue for more faithfully capturing complex dynamics, including contacts and non-rigidity, as well as complex sensory information, such as visual pe…
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…