Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation - 2026-05-12 - Research Publication - Mobile manipulation requires coordinated control of high-dimensional, bimanual robots. Imitation learning methods have been broadly used to solve these robotic tasks, yet typically ignore the bilateral morphological… - source: arxiv.org
Whole-Body Mobile Manipulation using Offline Reinforcement Learning on Sub-optimal Controllers - 2026-04-14 - Research Publication - Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Experiments use TIAGo as the physical… - source: arxiv.org
HEXAR: a Hierarchical Explainability Architecture for Robots - 2026-01-06 - Research Publication - As robotic systems become increasingly complex, the need for explainable decision-making becomes critical. Existing explainability approaches in robotics typically either focus on individual modules, which can be difficult… - source: arxiv.org
LOST-3DSG: Lightweight Open-Vocabulary 3D Scene Graphs with Semantic Tracking in Dynamic Environments - 2026-01-06 - Research Publication - Tracking objects that move within dynamic environments is a core challenge in robotics. Recent research has advanced this topic significantly; however, many existing approaches remain inefficient due to their reliance on… - source: arxiv.org
Searching in Space and Time: Unified Memory-Action Loops for Open-World Object Retrieval - 2025-11-18 - Research Publication - Service robots must retrieve objects in dynamic, open-world settings where requests may reference attributes ("the red mug"), spatial context ("the mug on the table"), or past states ("the mug that was here yesterday").… - source: arxiv.org
TIAGo++ Omni Isaac Sim paper releases calibrated mecanum-drive model - 2025-10-11 - Research Publication - The paper introduces a public Isaac Sim integration for PAL Robotics TIAGo++ Omni, including a model calibrated against real robot behavior. It compares a physically detailed mecanum-wheel model with a lightweight… - source: arxiv.org
An Ontology for Unified Modeling of Tasks, Actions, Environments, and Capabilities in Personal Service Robotics - 2025-09-26 - Research Publication - Personal service robots are increasingly used in domestic settings to assist older adults and people requiring support. Effective operation involves not only physical interaction but also the ability to interpret dynamic… - source: arxiv.org
Deep Biomechanically-Guided Interpolation for Keypoint-Based Brain Shift Registration - 2025-08-19 - Research Publication - Accurate compensation of brain shift is critical for maintaining the reliability of neuronavigation during neurosurgery. While keypoint-based registration methods offer robustness to large deformations and topological… - source: arxiv.org
Enhancing the Audio Achievement of the TIAGo Robot for Assistance in Medical Monitoring - 2025-08-04 - Research Publication - The International Journal of Social Robotics paper studies TIAGo audio capability for medical-monitoring assistance. The study’s named evaluation platform is TIAGo from PAL Robotics. - source: doi.org
Context Matters! Relaxing Goals with LLMs for Feasible 3D Scene Planning - 2025-06-18 - Research Publication - Embodied agents need to plan and act reliably in real and complex 3D environments. Classical planning (e. Experiments use TIAGo as the physical evaluation platform. The reported results provide an independent evaluation on… - source: arxiv.org
Investigating the Effectiveness of a Socratic Chain-of-Thoughts Reasoning Method for Task Planning in Robotics, A Case Study - 2025-03-11 - Research Publication - Large language models (LLMs) have demonstrated unprecedented capability in reasoning with natural language. Coupled with this development is the emergence of embodied AI in robotics. Experiments use TIAGo as the physical… - source: arxiv.org
From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition - 2024-12-20 - Research Publication - This paper describes the Inria team's integrated robotics system used in the 1st euROBIN coopetition, during which service robots performed voice-activated household tasks in a kitchen setting. Experiments use TIAGo as the… - source: arxiv.org
ASDnB: Merging Face with Body Cues For Robust Active Speaker Detection - 2024-12-11 - Research Publication - State-of-the-art Active Speaker Detection (ASD) approaches mainly use audio and facial features as input. However, the main hypothesis in this paper is that body dynamics is also highly correlated to "speaking" (and… - source: arxiv.org
BIAS: A Body-based Interpretable Active Speaker Approach - 2024-12-06 - Research Publication - State-of-the-art Active Speaker Detection (ASD) approaches heavily rely on audio and facial features to perform, which is not a sustainable approach in wild scenarios. Experiments use TIAGo as the physical evaluation… - source: arxiv.org
UNCOM: Zero-shot Context-Aware Command Understanding for Tabletop Scenarios - 2024-10-08 - Research Publication - This paper presents UNCOM, a novel hybrid framework for interpreting natural human commands in tabletop scenarios. The system integrates multiple sources of information -- speech, gestures, and scene context -- to extract… - source: arxiv.org
EMPOWER: Embodied Multi-role Open-vocabulary Planning with Online Grounding and Execution - 2024-08-30 - Research Publication - Task planning for robots in real-life settings presents significant challenges. These challenges stem from three primary issues: the difficulty in identifying grounded sequences of steps to achieve a goal; the lack of a… - source: arxiv.org
Rico: extended TIAGo robot towards up-to-date social and assistive robot usage scenarios - 2024-07-31 - Research Publication - Social and assistive robotics have vastly increased in popularity in recent years. Due to the wide range of usage, robots executing such tasks must be highly reliable and possess enough functions to satisfy multiple… - source: arxiv.org
Double-Layer Soft Data Fusion for Indoor Robot WiFi-Visual Localization - 2024-07-19 - Research Publication - This paper presents a novel WiFi-Visual data fusion method for indoor robot (TIAGO++) localization. This method can use 10 WiFi samples and 4 low-resolution images ($58 \times 58$ in pixels) to localize a indoor robot with… - source: arxiv.org
Real Time Collision Avoidance with GPU-Computed Distance Maps - 2024-07-02 - Research Publication - This paper presents reactive obstacle and self-collision avoidance of redundant robotic manipulators within real time kinematic feedback control using GPU-computed distance transform. Experiments use TIAGo as the physical… - source: arxiv.org
neuROSym: Deployment and Evaluation of a ROS-based Neuro-Symbolic Model for Human Motion Prediction - 2024-06-24 - Research Publication - Autonomous mobile robots can rely on several human motion detection and prediction systems for safe and efficient navigation in human environments, but the underline model architectures can have different impacts on the… - source: arxiv.org
Integrating and Evaluating Visuo-tactile Sensing with Haptic Feedback for Teleoperated Robot Manipulation - 2024-04-30 - Research Publication - Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual… - source: arxiv.org
Posture Optimization of the TIAGo Highly-Redundant Robot for Grasping Operation - 2024-03-23 - Research Publication - The Robotics paper studies posture optimization for grasping with the TIAGo highly redundant robot. The study’s named evaluation platform is TIAGo from PAL Robotics. - source: doi.org
TeleMoMa demonstrates whole-body teleoperation on PAL TIAGo++ - 2024-03-12 - Research Publication - TeleMoMa presents a modular teleoperation system for collecting whole-body mobile-manipulation demonstrations. The authors demonstrate the system on PAL TIAGo++, Toyota HSR, and Fetch in simulation and real-world settings.… - source: arxiv.org
Sim-to-Real gap in RL: Use Case with TIAGo and Isaac Sim/Gym - 2024-03-11 - Research Publication - This paper explores policy-learning approaches in the context of sim-to-real transfer for robotic manipulation using a TIAGo mobile manipulator, focusing on two state-of-art simulators, Isaac Gym and Isaac Sim, both… - source: arxiv.org
Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers - 2023-11-13 - Research Publication - We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Experiments use TIAGo as the physical evaluation… - source: arxiv.org
TIAGo RL paper releases tactile reinforcement-learning environments - 2023-11-13 - Research Publication - TIAGo RL introduces open-source reinforcement-learning environments for the TIAGo service robot. The environments generate tactile measurements resembling a sensorised TIAGo gripper and support transfer-learning… - source: arxiv.org
Practical whole-body elasto-geometric calibration of a humanoid robot: Application to the TALOS robot - 2023-06-01 - Research Publication - The paper “Practical whole-body elasto-geometric calibration of a humanoid robot: Application to the TALOS robot” was published on June 1, 2023. The paper applies whole-body elasto-geometric calibration methods to the… - source: doi.org
Open-source Natural Language Processing on the PAL Robotics ARI Social Robot - 2023-03-13 - Research Publication - The ACM/IEEE HRI companion paper implements open-source NLP on the PAL Robotics ARI social robot. The study’s named evaluation platform is ARI from PAL Robotics. - source: doi.org
Benchmarking Whole‐Body Controllers on the TALOS Humanoid Robot - 2022-03-04 - Research Publication - The paper “Benchmarking Whole‐Body Controllers on the TALOS Humanoid Robot” was published on March 4, 2022. The paper benchmarks whole-body controllers on the TALOS humanoid robot. The study’s named evaluation platform is… - source: doi.org
External Frontiers paper benchmarks whole-body controllers on PAL Robotics TALOS - 2022-03-04 - Research Publication - The Frontiers in Robotics and AI paper evaluates whole-body controllers on the commercially available TALOS humanoid robot from PAL Robotics. The study reports locomotion and balance benchmarks, including stair and… - source: frontiersin.org
Articles
PAL Robotics brings TIAGo Pro to mobile manipulation research - 2023-05-19 - PAL Robotics introduced TIAGo Pro as the next step in its TIAGo mobile-manipulation line, adding torque-controlled arms, upgraded electronics and richer HRI to a research platform first launched in 2015.