الباحثون

Javier Alonso-Mora

المنشورات 2

نسخة أولية وصول مفتوح

Flow Policies as Actions of Skill-Level World Models: Learned and Symbolic Abstractions for Long-Horizon Planning

Andreu Matoses Gimenez, Andrei-Carlo Papuc, Chris Pek وآخرون · 2026

Latent world models enable robots to plan by predicting the consequences of actions. Planning long tasks with control-rate actions requires many prediction steps, which enlarges the search space and accumulates error. Skill-level actions shorten these sequences, but a symbolic skill vocabulary requires domain knowledge …

نسخة أولية وصول مفتوح

Learning Task and Motion Plans from Real Demonstrations with Hybrid Flow Matching

Zuleika Redondo Garcia, Andreu Matoses Gimenez, Javier Alonso-Mora · 2026

Long-horizon mobile manipulation requires a task plan and the motion that executes it. Generative planners trained on demonstration produce both in one pass, requiring neither a symbolic domain nor search. To date, however, they have relied on thousands of scripted demonstrations of fixed-base arms and executed open lo …

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