4 papers · 1 filter
Online Self-Training for Co-Adaptation in Hierarchical Diffusion Policies
Clemence Grislain, Mathilde Kappel, Olivier Sigaud +1
Hierarchical policies decompose language-conditioned long-horizon robotic manipulation into a high-level planner and a low-level controller. However, effective coordination between…
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…
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…
IGDrivSim: A Benchmark for the Imitation Gap in Autonomous Driving
Clémence Grislain, Risto Vuorio, Cong Lu +1
Developing autonomous vehicles that can navigate complex environments with human-level safety and efficiency is a central goal in self-driving research. A common approach to achiev…