9 citations · 13 across the 17 of their papers we have counts for
6 papers · 1 filter
Combining Sampling- and Gradient-based Planning for Contact-rich Manipulation
Filippo Rozzi, Loris Roveda, Kevin Haninger
Planning over discontinuous dynamics is needed for robotics tasks like contact-rich manipulation, which presents challenges in the numerical stability and speed of planning methods…
Imitation Learning-based Visual Servoing for Tracking Moving Objects
Rocco Felici, Matteo Saveriano, Loris Roveda +1
In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilitie…
Predicting human motion intention for pHRI assistive control
Paolo Franceschi, Fabio Bertini, Francesco Braghin +3
This work addresses human intention identification during physical Human-Robot Interaction (pHRI) tasks to include this information in an assistive controller. To this purpose, hum…
Teaching contact-rich tasks from visual demonstrations by constraint extraction
Christian Hegeler, Filippo Rozzi, Loris Roveda +1
Contact-rich manipulation involves kinematic constraints on the task motion, typically with discrete transitions between these constraints during the task. Allowing the robot to de…
Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control
Kevin Haninger, Kangwagye Samuel, Filippo Rozzi +2
Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry…
Experience in Engineering Complex Systems: Active Preference Learning with Multiple Outcomes and Certainty Levels
Le Anh Dao, Loris Roveda, Marco Maccarini +8
Black-box optimization refers to the optimization problem whose objective function and/or constraint sets are either unknown, inaccessible, or non-existent. In many applications, e…