1 citations · 1 across the 4 of their papers we have counts for
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PRISM: Personalized Refinement of Imitation Skills for Manipulation via Human Instructions
Arnau Boix-Granell, Alberto San-Miguel-Tello, Magí Dalmau-Moreno +1
This paper presents PRISM: an instruction-conditioned refinement method for imitation policies in robotic manipulation. This approach bridges Imitation Learning (IL) and Reinforcem…
Advances on Affordable Hardware Platforms for Human Demonstration Acquisition in Agricultural Applications
Alberto San-Miguel-Tello, Gennaro Scarati, Alejandro Hernández +3
This paper presents advances on the Universal Manipulation Interface (UMI), a low-cost hand-held gripper for robot Learning from Demonstration (LfD), for complex in-the-wild scenar…
Sim-to-Real gap in RL: Use Case with TIAGo and Isaac Sim/Gym
Jaume Albardaner, Alberto San Miguel, Néstor García +1
This paper explores policy-learning approaches in the context of sim-to-real transfer for robotic manipulation using a TIAGo mobile manipulator, focusing on two state-of-art simula…
Combined Task and Motion Planning Via Sketch Decompositions (Extended Version with Supplementary Material)
Magí Dalmau-Moreno, Néstor García, Vicenç Gómez +1
The challenge in combined task and motion planning (TAMP) is the effective integration of a search over a combinatorial space, usually carried out by a task planner, and a search o…