3 papers
cs.RO2026
PRISM: Personalized Refinement of Imitation Skills for Manipulation via Human Instructions
Arnau Boix-Granell, Alberto San-Miguel-Tello, Magà 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…
cs.RO2024
Sim-to-Real gap in RL: Use Case with TIAGo and Isaac Sim/Gym
Jaume Albardaner, Alberto San Miguel, Néstor GarcÃa +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…
cs.RO2024
Combined Task and Motion Planning Via Sketch Decompositions (Extended Version with Supplementary Material)
Magà Dalmau-Moreno, Néstor GarcÃa, 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…