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…
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…
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…
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…
RESPRECT: Speeding-up Multi-fingered Grasping with Residual Reinforcement Learning
Federico Ceola, Lorenzo Rosasco, Lorenzo Natale
Deep Reinforcement Learning (DRL) has proven effective in learning control policies using robotic grippers, but much less practical for solving the problem of grasping with dextero…
LHManip: A Dataset for Long-Horizon Language-Grounded Manipulation Tasks in Cluttered Tabletop Environments
Federico Ceola, Lorenzo Natale, Niko Sünderhauf +1
Instructing a robot to complete an everyday task within our homes has been a long-standing challenge for robotics. While recent progress in language-conditioned imitation learning…