PAL Robotics brings TIAGo Pro to mobile manipulation research - 2023-05-19 - Article - 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.
Research
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. Classical whole-body controllers (WBCs) can… - 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
frovaaa/TIAGo-w4k-adapter: Initial public release (pre-ACM) - 2025-12-23 - Research Publication - This repository provides a ROS 2 adapter for integrating the PAL Robotics TIAGo platform with the Wizard-of-Oz dashboard presented in our HRI 2026 Short Contribution "A Wizard for Kids". The adapter subscribes to… - source: doi.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
Integration of the TIAGo Robot into Isaac Sim with Mecanum Drive Modeling and Learned S-Curve Velocity Profiles - 2025-10-11 - Research Publication - Efficient physics simulation has significantly accelerated research progress in robotics applications such as grasping and assembly. - 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
Enhancing the Audio Achievement of the TIAGo Robot for Assistance in Medical Monitoring - 2025-08-01 - Research Publication - Abstract Recently, there is an increased interest in the classification of acoustic events, and critical problems arise in real-life scenarios. - 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. - 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. - 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. The team developed a… - 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. The proposed framework utilizes… - 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 - This study explores the optimization of the TIAGo robot’s configuration for grasping operation, with a focus on the context of aging. - source: doi.org
TeleMoMa demonstrates whole-body teleoperation on PAL TIAGo++ - 2024-03-12 - Research Publication - A critical bottleneck limiting imitation learning in robotics is the lack of data. - 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
TIAGo RL paper releases tactile reinforcement-learning environments - 2023-11-13 - Research Publication - This paper covers TIAGo RL paper releases tactile reinforcement-learning environments for TIAGo in dexterity. - 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. Employing tactile fingertip sensors, undesired… - source: arxiv.org
“I know how you feel” - 2022-10-20 - Research Publication - Abstract In this article, we aim to evaluate the role of robots’ personality-driven behavioural patterns on users’ intention to use in an entertainment scenario. Toward such a goal, we designed two personalities: one… - source: doi.org
Grasping learning, optimization, and knowledge transfer in the robotics field. - 2022-03-16 - Research Publication - Service robotics is a fast-developing sector, requiring embedded intelligence into robotic platforms to interact with the humans and the surrounding environment. One of the main challenges in the field is robust and… - source: doi.org
Grasping Learning for Service Robots - 2021-10-10 - Research Publication - Service robotics is a fast-developing sector, requiring embedded intelligence into robotic platforms to interact with the humans and the surrounding environment. One of the main challenges in the field is robust and… - source: doi.org
TOWARDS FACILITATING LEARNING AND IMPROVING EDUCATION WITH TIAGO ROBOT - 2019-03-01 - Research Publication - 1 Centrul IT pentru Stiinta si Tehnologie, Bucharest (ROMANIA)2 University Politehnica of Bucharest (ROMANIA) - source: doi.org