50 citations · 51 across the 16 of their papers we have counts for
10 papers · 1 filter
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 via massively parallel simulation. Under PPO's non…
VLN on the Fly: An Onboard Vision-Language Navigation Stack for Aerial Robots
Marco S. Tayar, Felipe Tommaselli, Gianluca Capezutto +7
Running vision-language navigation fully onboard an aerial robot is hard, since grounding, planning, and control must share limited compute and a single-stage error is difficult to…
MIRA: A Modular Open-Source Micro-UAV for Indoor Research
Lucas K. de Oliveira, Felipe Tommaselli, Felipe A. G. Tommaselli +6
Indoor robotics research increasingly relies on micro-UAV platforms whose airframes, electronics, and control software are open to modification. Off-the-shelf platforms often lack…
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…
Language-Guided Grasping under Partial Observation for Mobile Manipulation in Field Inspection and Maintenance
Dilermando Almeida, Juliano Negri, Guilherme Lazzarini +5
Offshore inspection and maintenance have increasingly been using legged robots for routine sensing, yet many useful interventions still require physical interaction with tools, con…
Optimizing Grasping in Legged Robots: A Deep Learning Approach to Loco-Manipulation
Dilermando Almeida, Guilherme Lazzarini, Juliano Negri +3
This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability.…
Autonomous UAV Flight Navigation in Confined Spaces: A Reinforcement Learning Approach
Marco S. Tayar, Lucas K. de Oliveira, Felipe Andrade G. Tommaselli +4
Autonomous UAV inspection of confined industrial infrastructure, such as ventilation ducts, demands robust navigation policies where collisions are unacceptable. While Deep Reinfor…
A Vision-Based Shared-Control Teleoperation Scheme for Controlling the Robotic Arm of a Four-Legged Robot
Murilo Vinicius da Silva, Matheus Hipolito Carvalho, Juliano Negri +4
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mob…
MIHRaGe: A Mixed-Reality Interface for Human-Robot Interaction via Gaze-Oriented Control
Rafael R. Baptista, Nina R. Gerszberg, Ricardo V. Godoy +1
Individuals with upper limb mobility impairments often require assistive technologies to perform activities of daily living. While gaze-tracking has emerged as a promising method f…