42 citations · 95 across the 8 of their papers we have counts for
9 papers
Active Cross-Modal Visuo-Tactile Perception of Deformable Linear Objects
Raffaele Mazza, Ciro Natale, Pietro Falco
This paper presents a novel cross-modal visuo-tactile perception framework for the 3D shape reconstruction of deformable linear objects (DLOs), with a specific focus on cables subj…
Learning Deep Energy Shaping Policies for Stability-Guaranteed Manipulation
Shahbaz Abdul Khader, Hang Yin, Pietro Falco +1
Deep reinforcement learning (DRL) has been successfully used to solve various robotic manipulation tasks. However, most of the existing works do not address the issue of control st…
Learning Behavior Trees with Genetic Programming in Unpredictable Environments
Matteo Iovino, Jonathan Styrud, Pietro Falco +1
Modern industrial applications require robots to be able to operate in unpredictable environments, and programs to be created with a minimal effort, as there may be frequent change…
Learning Stable Normalizing-Flow Control for Robotic Manipulation
Shahbaz Abdul Khader, Hang Yin, Pietro Falco +1
Reinforcement Learning (RL) of robotic manipulation skills, despite its impressive successes, stands to benefit from incorporating domain knowledge from control theory. One of the…
Stability-Guaranteed Reinforcement Learning for Contact-rich Manipulation
Shahbaz A. Khader, Hang Yin, Pietro Falco +1
Reinforcement learning (RL) has had its fair share of success in contact-rich manipulation tasks but it still lags behind in benefiting from advances in robot control theory such a…
A Transfer Learning Approach to Cross-Modal Object Recognition: From Visual Observation to Robotic Haptic Exploration
Pietro Falco, Shuang Lu, Ciro Natale +2
In this work, we introduce the problem of cross-modal visuo-tactile object recognition with robotic active exploration. With this term, we mean that the robot observes a set of obj…
A Human Action Descriptor Based on Motion Coordination
Pietro Falco, Matteo Saveriano, Eka Gibran Hasany +2
In this paper, we present a descriptor for human whole-body actions based on motion coordination. We exploit the principle, well known in neuromechanics, that humans move their joi…
On Policy Learning Robust to Irreversible Events: An Application to Robotic In-Hand Manipulation
Pietro Falco, Abdallah Attawia, Matteo Saveriano +1
In this letter, we present an approach for learning in-hand manipulation skills with a low-cost, underactuated prosthetic hand in the presence of irreversible events. Our approach…
Data-efficient Model Learning and Prediction for Contact-rich Manipulation Tasks
Shahbaz Abdul Khader, Hang Yin, Pietro Falco +1
In this letter, we investigate learning forward dynamics models and multi-step prediction of state variables (long-term prediction) for contact-rich manipulation. The problems are…