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Florent P Audonnet

5 accepted papers

2026

3D-ADAM: A Dataset for 3D Anomaly Detection in Additive Manufacturing

Paul Matthew McHard, Florent P. Audonnet, Oliver Summerell, Sebastian Andraos, Paul Henderson, Gerardo Aragon-Camarasa
ICRA 2026poster

Surface defects are a primary source of yield loss in manufacturing, yet existing anomaly detection methods often fail in real-world deployment due to limited and unrepresentative datasets. To overcome this, we introduce 3D-ADAM, a 3D Anomaly Detection in Additive Manufacturing dataset, that is the …

Cited by 0Source ↗PDF ↗Scholar ↗
2026

Masked Generative Policy for Robotic Control

Lipeng Zhuang, Shiyu Fan, Florent P. Audonnet, Yingdong Ru, Edmond S. L. Ho, Gerardo Aragon-Camarasa +1
ICLR 2026poster

We present Masked Generative Policy (MGP), a novel framework for visuomotor imitation learning. We represent actions as discrete tokens, and train a conditional masked transformer that generates tokens in parallel and then rapidly refines only low-confidence tokens. We further propose two new sampli…

Cited by 1Source ↗code ↗Scholar ↗
2025

Can Real-to-Sim Approaches Capture Dynamic Fabric Behavior for Robotic Fabric Manipulation?

Yingdong Ru, Lipeng Zhuang, Zhuo He, Florent P. Audonnet, Gerardo Aragon-Camarasa
IROS 2025

This paper presents a rigorous evaluation of Real-to-Sim parameter estimation approaches for fabric manipulation in robotics. The study systematically assesses three state-of-the-art approaches, namely two differential pipelines and a data-driven approach. We also devise a novel physics-informed neu

Cited by 1Source ↗code ↗Scholar ↗
2025

Flat'n'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulation

Lipeng Zhuang, Shiyu Fan, Yingdong Ru, Florent P. Audonnet, Paul Henderson, Gerardo Aragon-Camarasa
ICRA 2025

We present Flat'n'Fold, a novel large-scale dataset for garment manipulation that addresses critical gaps in existing datasets. Comprising 1,212 human and 887 robot demonstrations of flattening and folding 44 unique garments across 8 categories, Flat'n'Fold surpasses prior datasets in size, scope, a

Cited by 3Source ↗code ↗Scholar ↗
2024

TELESIM: A Modular and Plug-and-Play Framework for Robotic Arm Teleoperation using a Digital Twin

Florent P Audonnet, Jonathan Grizou, Andrew Hamilton, Gerardo Aragon-Camarasa
ICRA 2024poster

Teleoperating robotic arms can be a challenging task for non-experts, particularly when using complex control devices or interfaces. To address the limitations and challenges of existing teleoperation frameworks, such as cognitive strain, control complexity, robot compatibility, and user evaluation,…

Cited by 7Source ↗Scholar ↗