Author

J. Alonso-Mora

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#machine learning Preprint Oct 2026

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

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...

Zuleika Redondo Garcia, Andreu Matoses Gimenez, J. Alonso-Mora · 0 citations

#machine learning Preprint Oct 2026

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

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...

Andreu Matoses Gimenez, Andrei-Carlo Papuc, Christian Pek et al. · 0 citations