7 papers
From Vision to Assistance: Gaze and Vision-Enabled Adaptive Control for a Back-Support Exoskeleton
Alessandro Leanza, Paolo Franceschi, Blerina Spahiu +1
Back-support exoskeletons have been proposed to mitigate spinal loading in industrial handling, yet their effectiveness critically depends on timely and context-aware assistance. M…
Augmenting Neural Networks-Based Model Approximators in Robotic Force-Tracking Tasks
Kevin Saad, Vincenzo Petrone, Enrico Ferrentino +3
As robotics gains popularity, interaction control becomes crucial for ensuring force tracking in manipulator-based tasks. Typically, traditional interaction controllers either requ…
Robotic Skill Diversification via Active Mutation of Reward Functions in Reinforcement Learning During a Liquid Pouring Task
Jannick van Buuren, Roberto Giglio, Loris Roveda +1
This paper explores how deliberate mutations of reward function in reinforcement learning can produce diversified skill variations in robotic manipulation tasks, examined with a li…
ConceptBot: Enhancing Robot's Autonomy through Task Decomposition with Large Language Models and Knowledge Graph
Alessandro Leanza, Angelo Moroncelli, Giuseppe Vizzari +3
ConceptBot is a modular robotic planning framework that combines Large Language Models and Knowledge Graphs to generate feasible and risk-aware plans despite ambiguities in natural…
GEAR: Gaze-Enabled Human-Robot Collaborative Assembly
Asad Ali Shahid, Angelo Moroncelli, Drazen Brscic +2
Recent progress in robot autonomy and safety has significantly improved human-robot interactions, enabling robots to work alongside humans on various tasks. However, complex assemb…
RoboMorph: In-Context Meta-Learning for Robot Dynamics Modeling
Manuel Bianchi Bazzi, Asad Ali Shahid, Christopher Agia +6
The landscape of Deep Learning has experienced a major shift with the pervasive adoption of Transformer-based architectures, particularly in Natural Language Processing (NLP). Nove…