Author

Mahdi Khoramshahi

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Preprint Sep 2026

A Sim-to-Real Integration Pipeline for Training and Deployment of Chunk-Based VLA Manipulation Policies

An open-source sim-to-real experimental protocol that addresses this bottleneck: expert trajectories generated in simulation are replayed open-loop on a real Franka FR3 setup, where the corresponding real visual and proprioceptive observations are recorded and converted into a format compatible with VLA training.

Mathilde Kappel, Clémence Grislain, Mohamed Chetouani et al. · 0 citations

Preprint Aug 2026

Autonomously Acquiring Robot Manipulation Skills with Language-Driven Quality-Diversity

This paper proposes an approach designed to output diverse motion primitive archives by autonomously leveraging quality-diversity algorithms, only requiring a free-form description of the task in common language, and proposes an autonomous exploration mechanism able to reliably output sets of functionals covering the f...

Émiland Garrabé, Mahdi Khoramshahi, Stéphane Doncieux · 0 citations

#artificial intelligence Apr 2026

QDTraj: Exploration of Diverse Trajectory Primitives for Articulated Objects Robotic Manipulation

This paper automatically generates different robot low-level trajectory primitives to manipulate given object articulations and proposes a method based on Quality-Diversity algorithms that leverages sparse reward exploration in order to generate a set of diverse and high-performing trajectory primitives for a given man...

Mathilde Kappel, Mahdi Khoramshahi, Louis Annabi et al. · arXiv.org · 0 citations