3 papers
cs.RO2026
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…
cs.RO2026
QDTraj: Exploration of Diverse Trajectory Primitives for Articulated Objects Robotic Manipulation
Mathilde Kappel, Mahdi Khoramshahi, Louis Annabi +2
Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggl…
cs.RO2024
QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity
Johann Huber, François Hélénon, Mathilde Kappel +5
Recent advances in AI have led to significant results in robotic learning, but skills like grasping remain partially solved. Many recent works exploit synthetic grasping datasets t…