3 papers
math.OC2025
Free-Gate: Planning, Control And Policy Composition via Free Energy Gating
Francesca Rossi, Ãmiland Garrabé, Giovanni Russo
We consider the problem of optimally composing a set of primitives to tackle planning and control tasks. To address this problem, we introduce a free energy computational model for…
cs.RO2025
Enhancing Robustness in Language-Driven Robotics: A Modular Approach to Failure Reduction
Ãmiland Garrabé, Pierre Teixeira, Mahdi Khoramshahi +1
Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, e…
cs.RO2025
Task-Aware Robotic Grasping by evaluating Quality Diversity Solutions through Foundation Models
Aurel X. Appius, Emiland Garrabe, Francois Helenon +3
Task-aware robotic grasping is a challenging problem that requires the integration of semantic understanding and geometric reasoning. This paper proposes a novel framework that lev…