publications

2026

1. Safe Execution of RL Policies via Acceleration-based CBF-QP Constraint Enforcement for Real-World Robotic Deployments

   Bastien Muraccioli, Alice Cariou, Pierre-Alexandre Leziart, and 4 more authors

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026), Sep 2026

   PDF

2025

1. Scalable, Training-Free Visual Language Robotics: a modular multi-model framework for consumer-grade GPUs

   Marie Samson, Bastien Muraccioli, and Fumio Kanehiro

   In 2025 IEEE/SICE International Symposium on System Integration (SII), Sep 2025

   DOI
2. Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications

   Bastien Muraccioli, Mathieu Celerier, Mehdi Benallegue, and 1 more author

   In Proceedings of Robotics: Science and Systems (RSS), Sep 2025
3. Explicit compliance and safety on torque controlled robots for physical interaction

   Mathieu Celerier, Bastien Muraccioli, Mehdi Benallegue, and 4 more authors

   Apr 2025

   working paper or preprint

   PDF

2022

1. Can robots be good public speakers?

   Gentiane Venture, Bastien Muraccioli, Marie-Luce Bourguet, and 1 more author

   In Proceedings of the Sixteenth International Conference on Tangible, Embedded, and Embodied Interaction, Daejeon, Republic of Korea, Apr 2022

   Abs DOI

   Our research aims at understanding if robots could be good at public speaking, what they need to achieve the level of a good public speaker and how they may surpass a human public speaker. Previous research results indicate that designing a robot speaker by mimicking some of the behaviours of a human speaker is not enough to create an effective robot speech performance. It can in fact be counter productive to strive for human-likeliness. In this paper, we describe how we programmed a toy-like, non-anthropomorphic small robot (the Anki Vector robot) to deliver a speech by extracting pose and facial expression information from the video of a human speaker and loosely retargeting this information to the robot. We also describe our experimental plans to compare Vector’s speech delivery performance with the performance of a more anthropomorphic robot (the SoftBank Pepper robot), which has been programmed to closely mimic the human speaker’s behaviour. They are compared in terms of their ability to evoke the positive affective responses necessary to spark interest, motivate the audience to listen, and engage the audience in meaningful ways.