Albert Gassol Puigjaner — accepted AI-conference papers

2026

Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning

Albert Gassol Puigjaner, Angelos Zacharia, Kostas Alexis

ICRA 2026poster

Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneous Localization and Mapping (SLAM) methods generate metric reconstructions and can be extended to metric-semantic mappin…

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2025

Performance-Driven Constrained Optimal Auto-Tuner for MPC

Albert Gassol Puigjaner, Manish Prajapat, Andrea Carron, Andreas Krause, Melanie N. Zeilinger

RA-L 2025

A key challenge in tuning Model Predictive Control (<sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">MPC</small>) cost function parameters is to ensure that the system performance stays consistently above a certain threshold. To address this challenge, we

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