64 citations · 93 across the 12 of their papers we have counts for
14 papers
Failure Identification in Imitation Learning Via Statistical and Semantic Filtering
Quentin Rolland, Fabrice Mayran de Chamisso, Jean-Baptiste Mouret
Imitation learning (IL) policies in robotics deliver strong performance in controlled settings but remain brittle in real-world deployments: rare events such as hardware faults, de…
Native Extrapolation Awareness in Flow-Based Conditional Generation
Constantinos Tsakonas, Serena Ivaldi, Jean-Baptiste Mouret
The ability of Flow Matching (FM) to model complex conditional distributions has established it as the state-of-the-art for prediction tasks (e.g., robotics, weather forecasting).…
Safe Bimanual Teleoperation with Language-Guided Collision Avoidance
Dionis Totsila, Clemente Donoso, Enrico Mingo Hoffman +2
Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating di…
Extremum Flow Matching for Offline Goal Conditioned Reinforcement Learning
Quentin Rouxel, Clemente Donoso, Fei Chen +2
Imitation learning is a promising approach for enabling generalist capabilities in humanoid robots, but its scaling is fundamentally constrained by the scarcity of high-quality exp…
From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition
Fabio Amadio, Clemente Donoso, Dionis Totsila +6
This paper describes the Inria team's integrated robotics system used in the 1st euROBIN coopetition, during which service robots performed voice-activated household tasks in a kit…
Flying in air ducts
Thomas Martin, Adrien Guénard, Vladislav Tempez +4
Air ducts are integral to modern buildings but are challenging to access for inspection. Small quadrotor drones offer a potential solution, as they can navigate both horizontal and…
Words2Contact: Identifying Support Contacts from Verbal Instructions Using Foundation Models
Dionis Totsila, Quentin Rouxel, Jean-Baptiste Mouret +1
This paper presents Words2Contact, a language-guided multi-contact placement pipeline leveraging large language models and vision language models. Our method is a key component for…
Flow Matching Imitation Learning for Multi-Support Manipulation
Quentin Rouxel, Andrea Ferrari, Serena Ivaldi +1
Humanoid robots could benefit from using their upper bodies for support contacts, enhancing their workspace, stability, and ability to perform contact-rich and pushing tasks. In th…
Parametric-Task MAP-Elites
Timothée Anne, Jean-Baptiste Mouret
Optimizing a set of functions simultaneously by leveraging their similarity is called multi-task optimization. Current black-box multi-task algorithms only solve a finite set of ta…
Multi-Contact Whole-Body Force Control for Position-Controlled Robots
Quentin Rouxel, Serena Ivaldi, Jean-Baptiste Mouret
Many humanoid and multi-legged robots are controlled in positions rather than in torques, which prevents direct control of contact forces, and hampers their ability to create multi…
Multi-Task Multi-Behavior MAP-Elites
Anne, Mouret
We propose Multi-Task Multi-Behavior MAP-Elites, a variant of MAP-Elites that finds a large number of high-quality solutions for a large set of tasks (optimization problems from a…
Prescient teleoperation of humanoid robots
Luigi Penco, Jean-Baptiste Mouret, Serena Ivaldi
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an op…
Micro-Data Learning: The Other End of the Spectrum
Jean-Baptiste Mouret
Many fields are now snowed under with an avalanche of data, which raises considerable challenges for computer scientists. Meanwhile, robotics (among other fields) can often only us…
Fast Damage Recovery in Robotics with the T-Resilience Algorithm
Sylvain Koos, Antoine Cully, Jean-Baptiste Mouret
Damage recovery is critical for autonomous robots that need to operate for a long time without assistance. Most current methods are complex and costly because they require anticipa…