7 papers
LOST-3DSG: Lightweight Open-Vocabulary 3D Scene Graphs with Semantic Tracking in Dynamic Environments
Sara Micol Ferraina, Michele Brienza, Francesco Argenziano +4
Tracking objects that move within dynamic environments is a core challenge in robotics. Recent research has advanced this topic significantly; however, many existing approaches rem…
Guarding the Guardrails: A Taxonomy-Driven Approach to Jailbreak Detection
Francesco Giarrusso, Olga E. Sorokoletova, Vincenzo Suriani +1
Jailbreaking techniques pose a significant threat to the safety of Large Language Models (LLMs). Existing defenses typically focus on single-turn attacks, lack coverage across lang…
Dynamic Objects Relocalization in Changing Environments with Flow Matching
Francesco Argenziano, Miguel Saavedra-Ruiz, Sacha Morin +2
Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households o…
Curriculum-Based Multi-Tier Semantic Exploration via Deep Reinforcement Learning
Abdel Hakim Drid, Vincenzo Suriani, Daniele Nardi +1
Navigating and understanding complex and unknown environments autonomously demands more than just basic perception and movement from embodied agents. Truly effective exploration re…
Multi Robot Coordination in Highly Dynamic Environments: Tackling Asymmetric Obstacles and Limited Communication
Vincenzo Suriani, Daniele Affinita, Domenico D. Bloisi +1
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payloa…
Self-supervised Feature Extraction for Enhanced Ball Detection on Soccer Robots
Can Lin, Daniele Affinita, Marco E. P. Zimmatore +3
Robust and accurate ball detection is a critical component for autonomous humanoid soccer robots, particularly in dynamic and challenging environments such as RoboCup outdoor field…