6 papers
A Baseline Study and Benchmark for Few-Shot Open-Set Action Recognition with Feature Residual Discrimination
Stefano Berti, Giulia Pasquale, Lorenzo Natale
Few-Shot Action Recognition (FS-AR) has shown promising results but is often limited by a closed-set assumption that fails in real-world open-set scenarios. While Few-Shot Open-Set…
PCHands: PCA-based Hand Pose Synergy Representation on Manipulators with N-DoF
En Yen Puang, Federico Ceola, Giulia Pasquale +1
We consider the problem of learning a common representation for dexterous manipulation across manipulators of different morphologies. To this end, we propose PCHands, a novel appro…
Continuous Wrist Control on the Hannes Prosthesis: a Vision-based Shared Autonomy Framework
Federico Vasile, Elisa Maiettini, Giulia Pasquale +2
Most control techniques for prosthetic grasping focus on dexterous fingers control, but overlook the wrist motion. This forces the user to perform compensatory movements with the e…
Grasp Pre-shape Selection by Synthetic Training: Eye-in-hand Shared Control on the Hannes Prosthesis
Federico Vasile, Elisa Maiettini, Giulia Pasquale +3
We consider the task of object grasping with a prosthetic hand capable of multiple grasp types. In this setting, communicating the intended grasp type often requires a high user co…
KDPE: A Kernel Density Estimation Strategy for Diffusion Policy Trajectory Selection
Andrea Rosasco, Federico Ceola, Giulia Pasquale +1
Learning robot policies that capture multimodality in the training data has been a long-standing open challenge for behavior cloning. Recent approaches tackle the problem by modeli…
HannesImitation: Grasping with the Hannes Prosthetic Hand via Imitation Learning
Carlo Alessi, Federico Vasile, Federico Ceola +3
Recent advancements in control of prosthetic hands have focused on increasing autonomy through the use of cameras and other sensory inputs. These systems aim to reduce the cognitiv…