Generative Floor Plan Design with LLMs via Reinforcement Learning with Verifiable Rewards.

Florian Golemo Luis Lara Aristides Milios Zhi Hao Luo Aditya Sharma Ge Ya Luo Christopher Beckham Florian Golemo Christopher Pal Generative Floor Plan Design with LLMs via Reinforcement Learning with Verifiable Rewards. 26612-26627 2026 ACL (Findings) https://doi.org/10.18653/v1/2026.findings-acl.1326 https://aclanthology.org/2026.findings-acl.1326/ conf/acl/2026f db/conf/acl/acl2026f.html#LaraMLSLBGP26

Luis Lara Aristides Milios Zhi Hao Luo Aditya Sharma Ge Ya Luo Christopher Beckham Florian Golemo Christopher Pal Generative Floor Plan Design with LLMs via Reinforcement Learning with Verifiable Rewards. 2026 May abs/2605.14117 CoRR https://doi.org/10.48550/arXiv.2605.14117 db/journals/corr/corr2605.html#abs-2605-14117 streams/journals/corr

Florian Golemo Joanna Wolski Joel Ruben Antony Moniz Christopher Pal Milo, a Fully Autonomous Indoor/Outdoor Robotic Guide Dog. 2026 July abs/2607.19530 CoRR https://doi.org/10.48550/arXiv.2607.19530 db/journals/corr/corr2607.html#abs-2607-19530 streams/journals/corr

Anthony Gosselin Ge Ya Luo Luis Lara Florian Golemo Derek Nowrouzezahrai Liam Paull Alexia Jolicoeur-Martineau Christopher Pal Ctrl-Crash: Controllable Diffusion for Realistic Car Crashes. 2025 June abs/2506.00227 CoRR https://doi.org/10.48550/arXiv.2506.00227 db/journals/corr/corr2506.html#abs-2506-00227 streams/journals/corr

Yasmeen Hitti Ionelia Buzatu Manuel Del Verme Mark Lefsrud Florian Golemo Audrey Durand GrowSpace: A reinforcement learning environment for plant architecture. 108613 2024 217 Comput. Electron. Agric. https://doi.org/10.1016/j.compag.2024.108613 https://www.wikidata.org/entity/Q129897154 db/journals/cea/cea217.html#HittiBVLGD24

Luke Rowe Roger Girgis Anthony Gosselin Bruno Carrez Florian Golemo Felix Heide Liam Paull Christopher Pal CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learning. 3600-3621 2024 CoRL https://proceedings.mlr.press/v270/rowe25a.html conf/corl/2024 db/conf/corl/corl2024.html#RoweGGCGHPP24

Luke Rowe Roger Girgis Anthony Gosselin Bruno Carrez Florian Golemo Felix Heide Liam Paull Christopher Pal CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learning. 2024 abs/2403.19918 CoRR https://doi.org/10.48550/arXiv.2403.19918 db/journals/corr/corr2403.html#abs-2403-19918

Zhi Hao Luo Luis Lara Ge Ya Luo Florian Golemo Christopher Beckham Christopher Pal DStruct2Design: Data and Benchmarks for Data Structure Driven Generative Floor Plan Design. 2024 abs/2407.15723 CoRR https://doi.org/10.48550/arXiv.2407.15723 db/journals/corr/corr2407.html#abs-2407-15723 streams/journals/corr

Glen Berseth Florian Golemo Christopher Pal Towards Learning to Imitate from a Single Video Demonstration. 78:1-78:26 2023 24 J. Mach. Learn. Res. https://jmlr.org/papers/v24/21-1174.html db/journals/jmlr/jmlr24.html#BersethGP23

Christopher Beckham Martin Weiss Florian Golemo Sina Honari Derek Nowrouzezahrai Christopher Pal Visual question answering from another perspective: CLEVR mental rotation tests. 109209 2023 April 136 Pattern Recognit. https://doi.org/10.1016/j.patcog.2022.109209 db/journals/pr/pr136.html#BeckhamWGHNP23

Klaus Greff Francois Belletti Lucas Beyer Carl Doersch Yilun Du Daniel Duckworth David J. Fleet Dan Gnanapragasam Florian Golemo Charles Herrmann Thomas Kipf Abhijit Kundu Dmitry Lagun Issam H. Laradji Hsueh-Ti Derek Liu Henning Meyer Yishu Miao Derek Nowrouzezahrai A. Cengiz Öztireli Etienne Pot Noha Radwan Daniel Rebain Sara Sabour Mehdi S. M. Sajjadi Matan Sela Vincent Sitzmann Austin Stone Deqing Sun Suhani Vora Ziyu Wang Tianhao Wu 0003 Kwang Moo Yi Fangcheng Zhong Andrea Tagliasacchi Kubric: A scalable dataset generator. 3739-3751 2022 CVPR https://doi.org/10.1109/CVPR52688.2022.00373 conf/cvpr/2022 db/conf/cvpr/cvpr2022.html#GreffBBDDDFGGHK22 Roger Girgis Florian Golemo Felipe Codevilla Martin Weiss Jim Aldon D'Souza Samira Ebrahimi Kahou Felix Heide Christopher Pal Latent Variable Sequential Set Transformers for Joint Multi-Agent Motion Prediction. 2022 ICLR https://openreview.net/forum?id=Dup_dDqkZC5 conf/iclr/2022 db/conf/iclr/iclr2022.html#GirgisGCWDKHP22

R. Devon Hjelm Bogdan Mazoure Florian Golemo Felipe Frujeri Mihai Jalobeanu Andrey Kolobov The Sandbox Environment for Generalizable Agent Research (SEGAR). 2022 abs/2203.10351 CoRR https://doi.org/10.48550/arXiv.2203.10351 db/journals/corr/corr2203.html#abs-2203-10351

Christopher Beckham Martin Weiss Florian Golemo Sina Honari Derek Nowrouzezahrai Christopher Pal Visual Question Answering From Another Perspective: CLEVR Mental Rotation Tests. 2022 abs/2212.01639 CoRR https://doi.org/10.48550/arXiv.2212.01639 db/journals/corr/corr2212.html#abs-2212-01639

Sebastian Höfer Kostas E. Bekris Ankur Handa Juan Camilo Gamboa Melissa Mozifian Florian Golemo Christopher G. Atkeson Dieter Fox Ken Goldberg John J. Leonard C. Karen Liu Jan Peters 0001 Shuran Song Peter Welinder Martha White Sim2Real in Robotics and Automation: Applications and Challenges. 398-400 2021 18 IEEE Trans Autom. Sci. Eng. 2 https://doi.org/10.1109/TASE.2021.3064065 db/journals/tase/tase18.html#HoferBHGMGAFGLL21

Sai Rajeswar Cyril Ibrahim Nitin Surya Florian Golemo David Vázquez 0001 Aaron C. Courville Pedro O. Pinheiro Haptics-based Curiosity for Sparse-reward Tasks. 395-405 2021 CoRL https://proceedings.mlr.press/v164/rajeswar22a.html conf/corl/2021 db/conf/corl/corl2021.html#RajeswarISG0CP21 J. Krishna Murthy 0001 Miles Macklin Florian Golemo Vikram Voleti Linda Petrini Martin Weiss Breandan Considine Jérôme Parent-Lévesque Kevin Xie Kenny Erleben Liam Paull Florian Shkurti Derek Nowrouzezahrai Sanja Fidler gradSim: Differentiable simulation for system identification and visuomotor control. 2021 ICLR https://openreview.net/forum?id=c_E8kFWfhp0 conf/iclr/2021 db/conf/iclr/iclr2021.html#MurthyMGVPWCPXE21

Sai Rajeswar Cyril Ibrahim Nitin Surya Florian Golemo David Vázquez 0001 Aaron C. Courville Pedro O. Pinheiro Touch-based Curiosity for Sparse-Reward Tasks. 2021 abs/2104.00442 CoRR https://arxiv.org/abs/2104.00442 db/journals/corr/corr2104.html#abs-2104-00442

Roger Girgis Florian Golemo Felipe Codevilla Jim Aldon D'Souza Samira Ebrahimi Kahou Felix Heide Christopher J. Pal Latent Variable Nested Set Transformers & AutoBots. 2021 abs/2104.00563 CoRR https://arxiv.org/abs/2104.00563 db/journals/corr/corr2104.html#abs-2104-00563

Krishna Murthy Jatavallabhula Miles Macklin Florian Golemo Vikram Voleti Linda Petrini Martin Weiss Breandan Considine Jérôme Parent-Lévesque Kevin Xie Kenny Erleben Liam Paull Florian Shkurti Derek Nowrouzezahrai Sanja Fidler gradSim: Differentiable simulation for system identification and visuomotor control. 2021 abs/2104.02646 CoRR https://arxiv.org/abs/2104.02646 db/journals/corr/corr2104.html#abs-2104-02646

Fabrice Normandin Florian Golemo Oleksiy Ostapenko Pau Rodríguez Matthew D. Riemer Julio Hurtado Khimya Khetarpal Dominic Zhao Ryan Lindeborg Timothée Lesort Laurent Charlin Irina Rish Massimo Caccia Sequoia: A Software Framework to Unify Continual Learning Research. 2021 abs/2108.01005 CoRR https://arxiv.org/abs/2108.01005 db/journals/corr/corr2108.html#abs-2108-01005

Yasmeen Hitti Ionelia Buzatu Manuel Del Verme Mark Lefsrud Florian Golemo Audrey Durand GrowSpace: Learning How to Shape Plants. 2021 abs/2110.08307 CoRR https://arxiv.org/abs/2110.08307 db/journals/corr/corr2110.html#abs-2110-08307

Sai Rajeswar Fahim Mannan Florian Golemo Jérôme Parent-Lévesque David Vázquez 0001 Derek Nowrouzezahrai Aaron C. Courville Pix2Shape: Towards Unsupervised Learning of 3D Scenes from Images Using a View-Based Representation. 2478-2493 2020 128 Int. J. Comput. Vis. 10 https://doi.org/10.1007/s11263-020-01322-1 db/journals/ijcv/ijcv128.html#RajeswarMGPVNC20

Pedro O. Pinheiro Amjad Almahairi Ryan Y. Benmalek Florian Golemo Aaron C. Courville Unsupervised Learning of Dense Visual Representations. 2020 NeurIPS https://proceedings.neurips.cc/paper/2020/hash/3000311ca56a1cb93397bc676c0b7fff-Abstract.html conf/nips/2020 db/conf/nips/neurips2020.html#PinheiroABGC20

Sharath Chandra Raparthy Bhairav Mehta Florian Golemo Liam Paull Generating Automatic Curricula via Self-Supervised Active Domain Randomization. 2020 abs/2002.07911 CoRR https://arxiv.org/abs/2002.07911 db/journals/corr/corr2002.html#abs-2002-07911

Sai Rajeswar Fahim Mannan Florian Golemo Jérôme Parent-Lévesque David Vázquez 0001 Derek Nowrouzezahrai Aaron C. Courville Pix2Shape - Towards Unsupervised Learning of 3D Scenes from Images using a View-based Representation. 2020 abs/2003.14166 CoRR https://arxiv.org/abs/2003.14166 db/journals/corr/corr2003.html#abs-2003-14166

Pedro O. Pinheiro Amjad Almahairi Ryan Y. Benmalek Florian Golemo Aaron C. Courville Unsupervised Learning of Dense Visual Representations. 2020 abs/2011.05499 CoRR https://arxiv.org/abs/2011.05499 db/journals/corr/corr2011.html#abs-2011-05499

Sebastian Höfer Kostas E. Bekris Ankur Handa Juan Camilo Gamboa Higuera Florian Golemo Melissa Mozifian Christopher G. Atkeson Dieter Fox Ken Goldberg John J. Leonard C. Karen Liu Jan Peters 0001 Shuran Song Peter Welinder Martha White Perspectives on Sim2Real Transfer for Robotics: A Summary of the R: SS 2020 Workshop. 2020 abs/2012.03806 CoRR https://arxiv.org/abs/2012.03806 db/journals/corr/corr2012.html#abs-2012-03806

Bhairav Mehta Manfred Diaz Florian Golemo Christopher J. Pal Liam Paull Active Domain Randomization. 1162-1176 2019 CoRL http://proceedings.mlr.press/v100/mehta20a.html conf/corl/2019 db/conf/corl/corl2019.html#MehtaDGPP19 Martin Weiss Simon Chamorro Roger Girgis Margaux Luck Samira Ebrahimi Kahou Joseph Paul Cohen Derek Nowrouzezahrai Doina Precup Florian Golemo Chris Pal Navigation Agents for the Visually Impaired: A Sidewalk Simulator and Experiments. 1314-1327 2019 CoRL http://proceedings.mlr.press/v100/weiss20a.html conf/corl/2019 db/conf/corl/corl2019.html#WeissCGLKCNPGP19

Julian G. Zilly Jacopo Tani Breandan Considine Bhairav Mehta Andrea F. Daniele Manfred Diaz Gianmarco Bernasconi Claudio Ruch Jan Hakenberg Florian Golemo A. Kirsten Bowser Matthew R. Walter Ruslan Hristov Sunil Mallya Emilio Frazzoli Andrea Censi Liam Paull The AI Driving Olympics at NeurIPS 2018. 2019 abs/1903.02503 CoRR http://arxiv.org/abs/1903.02503 db/journals/corr/corr1903.html#abs-1903-02503

Bhairav Mehta Manfred Diaz Florian Golemo Christopher J. Pal Liam Paull Active Domain Randomization. 2019 abs/1904.04762 CoRR http://arxiv.org/abs/1904.04762 db/journals/corr/corr1904.html#abs-1904-04762

Martin Weiss Simon Chamorro Roger Girgis Margaux Luck Samira Ebrahimi Kahou Joseph Paul Cohen Derek Nowrouzezahrai Doina Precup Florian Golemo Chris Pal Navigation Agents for the Visually Impaired: A Sidewalk Simulator and Experiments. 2019 abs/1910.13249 CoRR http://arxiv.org/abs/1910.13249 db/journals/corr/corr1910.html#abs-1910-13249

Maxime Chevalier-Boisvert Guillaume Alain Florian Golemo Derek Nowrouzezahrai Robo-PlaNet: Learning to Poke in a Day. 2019 abs/1911.03594 CoRR http://arxiv.org/abs/1911.03594 db/journals/corr/corr1911.html#abs-1911-03594

Florian Golemo How to Train Your Robot - New Environments for Robotic Training and New Methods for Transferring Policies from the Simulator to the Real Robot. (Comment Dresser Votre Robot - Nouveaux Environnements de Formation Robotique et Nouvelles Méthodes de Transfert de Stratégies du Simulateur au Vrai Robot). 2018 University of Bordeaux, France https://tel.archives-ouvertes.fr/tel-03177806 https://tel.archives-ouvertes.fr/tel-01974203 Florian Golemo Adrien Ali Taïga Aaron C. Courville Pierre-Yves Oudeyer Sim-to-Real Transfer with Neural-Augmented Robot Simulation. 817-828 2018 CoRL http://proceedings.mlr.press/v87/golemo18a.html conf/corl/2018 db/conf/corl/corl2018.html#GolemoTCO18 Simon Brodeur Ethan Perez Ankesh Anand Florian Golemo Luca Celotti Florian Strub Jean Rouat Hugo Larochelle Aaron C. Courville HoME: a Household Multimodal Environment. 2018 ICLR (Workshop) https://openreview.net/forum?id=B1pJ3dkwG conf/iclr/2018w db/conf/iclr/iclr2018w.html#BrodeurPAGCSRLC18 Pablo Azagra Florian Golemo Yoan Mollard Manuel Lopes 0001 Javier Civera 0001 Ana C. Murillo A multimodal dataset for object model learning from natural human-robot interaction. 6134-6141 2017 IROS https://doi.org/10.1109/IROS.2017.8206514 conf/iros/2017 db/conf/iros/iros2017.html#AzagraGMLCM17

Simon Brodeur Ethan Perez Ankesh Anand Florian Golemo Luca Celotti Florian Strub Jean Rouat Hugo Larochelle Aaron C. Courville HoME: a Household Multimodal Environment. 2017 abs/1711.11017 CoRR http://arxiv.org/abs/1711.11017 db/journals/corr/corr1711.html#abs-1711-11017

Florian Golemo Marjeta Markovic Jasper Schoormans Peter De Jonge Maik Couwenberg Evert Haasdijk Simulating Morphological Evolution in Large Robot Populations. 1249-1250 2015 GECCO (Companion) https://doi.org/10.1145/2739482.2768494 conf/gecco/2015c db/conf/gecco/gecco2015c.html#GolemoMSJCH15 Christian Zinke Kyrill Meyer Florian Golemo Lars-Peter Meyer The Use of a Service Modeler Together with a PLM Software for the Management of Product-Related Services: A First Use-case-based Approach to Configure Service Components for Product-Related Services. 449-457 2013 PLM https://doi.org/10.1007/978-3-642-41501-2_45 conf/ifip5-1/2013 db/conf/ifip5-1/plm2013.html#ZinkeMGM13 Florian Golemo Unterstützung von Innovationsprozessen mit IT-Werkzeugen - Der InnoRadar als Teil eines Innovationswerkzeugs. 996-1001 2010 GI Jahrestagung (2) conf/gi/2010-2 db/conf/gi/gi2010-2.html#Golemo10 https://dl.gi.de/handle/20.500.12116/19362 http://subs.emis.de/LNI/Proceedings/Proceedings176/article6014.html Guillaume Alain Amjad Almahairi Ankesh Anand Christopher G. Atkeson Pablo Azagra Christopher Beckham Kostas E. Bekris Francois Belletti Ryan Y. Benmalek Gianmarco Bernasconi Glen Berseth Lucas Beyer A. Kirsten Bowser Simon Brodeur Ionelia Buzatu Massimo Caccia Bruno Carrez Luca Celotti Andrea Censi Simon Chamorro Sharath ChandraSharath Chandra Raparthy Laurent Charlin Maxime Chevalier-Boisvert Javier Civera 0001 Felipe Codevilla Joseph Paul Cohen Breandan Considine Aaron C. Courville Maik Couwenberg Andrea F. Daniele Manfred Diaz Carl Doersch Jim Aldon D'Souza Yilun Du Daniel Duckworth Audrey Durand Kenny Erleben Sanja Fidler David J. Fleet Dieter Fox Emilio Frazzoli Felipe Vieira FrujeriFelipe Frujeri Juan Camilo Gamboa Roger Girgis Dan Gnanapragasam Kenneth Y. GoldbergKen Goldberg Anthony Gosselin Klaus Greff Evert Haasdijk Jan Hakenberg Ankur Handa Felix Heide Charles Herrmann Juan Camilo Gamboa Higuera Yasmeen Hitti R. Devon Hjelm Sebastian Höfer Sina Honari Ruslan Hristov Julio Hurtado Cyril Ibrahim Mihai Jalobeanu Krishna Murthy JatavallabhulaJ. Krishna Murthy 0001 Alexia Jolicoeur-Martineau Peter De Jonge Samira Ebrahimi Kahou Khimya Khetarpal Thomas Kipf Andrey Kolobov Abhijit Kundu Dmitry Lagun Luis Lara Issam H. Laradji Hugo Larochelle Mark Lefsrud John J. Leonard Timothée Lesort Ryan Lindeborg C. Karen Liu Hsueh-Ti Derek Liu Manuel Lopes 0001 Margaux Luck Ge Ya Luo Zhi Hao Luo Miles Macklin Sunil Mallya Fahim Mannan Marjeta Markovic Bogdan Mazoure Bhairav Mehta Henning Meyer Kyrill Meyer Lars-Peter Meyer Yishu Miao Aristides Milios Yoan Mollard Joel Ruben Antony Moniz Melissa Mozifian Ana Cristina MurilloAna C. Murillo Fabrice Normandin Derek Nowrouzezahrai Oleksiy Ostapenko Pierre-Yves Oudeyer A. Cengiz ÖztireliCengiz Öztireli Christopher Joseph PalChristopher J. PalChristopher PalChris Pal Jérôme Parent-Lévesque Liam Paull Ethan Perez Jan Peters 0001 Linda Petrini Pedro O. Pinheiro Etienne Pot Doina Precup Noha Radwan Sai Rajeswar Daniel Rebain Matthew RiemerMatthew D. Riemer Irina Rish Pau Rodríguez Jean Rouat Luke Rowe Claudio Ruch Sara Sabour Mehdi S. M. Sajjadi Jasper Schoormans Matan Sela Aditya Sharma Florian Shkurti Vincent Sitzmann Shuran Song Austin Stone Florian Strub Deqing Sun Nitin Surya Andrea Tagliasacchi Adrien Ali Taïga Jacopo Tani David Vázquez 0001 Manuel Del Verme Vikram Voleti Suhani Vora Matthew R. Walter Ziyu Wang Martin Weiss Peter Welinder Martha White Joanna Wolski Tianhao Wu 0003 Kevin Xie Kwang Moo Yi Dominic Zhao Fangcheng Zhong Julian G. Zilly Christian Zinke-WehlmannChristian Zinke