Elie Chelly — accepted AI-conference papers

2025

Tactile-based force estimation for interaction control with robot fingers

Elie Chelly, Andrea Cherubini, Philippe Fraisse, Faïz Ben Amar, Mahdi Khoramshahi

IROS 2025

Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator’s surface. However their implementation faces two main challenges: accurate force estimation across complex s

Cited by 2 Source ↗Scholar ↗

2024

Speeding up 6-DoF Grasp Sampling with Quality-Diversity

Johann Huber, François Hélénon, Mathilde Kappel, Elie Chelly, Mahdi Khoramshahi, Faïz Ben Amar +1

IROS 2024poster

Recent advances in AI have led to significant results in robotic learning, including natural language-conditioned planning and efficient optimization of controllers using generative models. However, the interaction data remains the bottleneck for generalization. Getting data for grasping is a critic…

Cited by 3 Source ↗Scholar ↗