M2 Internship IMT Atlantique : Parametric Representation of Robotic Actions for Cooking

Abstract

This internship is part of the Veggie

Bot project, which aims to enable a domestic robotic arm to autonomously prepare meals from start to finish. The work focuses on the parametric representation of robotic actions (gestures) to allow adaptation to objects with varying shapes, dimensions, and physical properties. The internship will explore, implement, and compare state-of-the-art approaches for action representation, including learning from demonstration, reinforcement learning, and Vision-Language-Action (VLA) models.

This work is conducted in collaboration with IMT Atlantique. Regular scientific exchanges with their research teams will be organized throughout the internship.

Laboratory presentation

CESI LINEACT (UR 7527), Laboratory for Digital Innovation for Businesses and Learning to Support the Competitiveness of Territories, anticipates and accompanies the technological mutations of sectors and services related to industry and construction. The historical proximity of CESI to companies is a determining factor in our research activities. It has led us to focus our efforts on applied research close to companies and in partnership with them. A human-centered approach coupled with the use of technologies, as well as territorial networking and links with training, has enabled the construction of cross-cutting research; it puts humans, their needs, and their uses at the center of its issues and addresses the technological angle through these contributions.

Its research is organized according to two interdisciplinary scientific teams and several application areas.\n\n

Team 1 \"Learning and Innovating\" mainly concerns Cognitive Sciences, Social Sciences, and Management Sciences, Training Techniques, and those of Innovation. The main scientific objectives are the understanding of the effects of the environment, and, more particularly, of