16 papers
Mind the Phase: Effective Rank and Representation Health in Legged Locomotion
Felipe Tommaselli, Thiago H. Segreto, Juliano D. Negri +2
Reinforcement learning has become the leading paradigm in legged locomotion, enabling complex behaviors from backflips to parkour through massively parallel simulation. Under PPO's…
MIRA: A Modular Open-Source Micro-UAV for Indoor Research
Lucas K. de Oliveira, Felipe A. G. Tommaselli, João Aires Marsicano +4
Indoor robotics research increasingly uses micro-UAV platforms whose airframes, electronics, and control software are open to modification. Off-the-shelf platforms often lack the l…
Towards Capability-Aware Traversability Navigation for Unstructured Environments
Gianluca Capezzuto, Felipe Tommaselli, Matheus P. Angarola +2
Estimating traversability in unstructured environments requires conditioning on robot embodiment, as the same terrain can be traversable for one platform and unsafe for another. Ex…
From Perception to Assistance: Open-Vocabulary Shared Autonomy for Robotic Manipulation
Murilo Vinicius da Silva, Ricardo V. Godoy, Juliano Negri +3
Teleoperating a robotic manipulator in industrial environments demands precision that camera-based interfaces alone struggle to deliver. The operator must align the end-effector wi…
Biological Sex Determination in Cadavers Using Deep Learning Algorithms from Computed Tomography Images of Pelvis and Skull
Giovanna Herculano Tormena, Davi Nascimento Araújo, Germano Coimbra Soares de Carvalho +10
Sexual identification of decomposed cadavers challenges traditional methods dependent on visual anthropological analysis. This study evaluates state-of-the-art deep learning (inclu…
Automated identification of Ichneumonoidea wasps via YOLO-based deep learning: Integrating HiresCam for Explainable AI
Joao Manoel Herrera Pinheiro, Gabriela Do Nascimento Herrera, Alvaro Doria Dos Santos +7
Accurate taxonomic identification of parasitoid wasps within the superfamily Ichneumonoidea is essential for biodiversity assessment, ecological monitoring, and biological control…