5 papers
Generalization of World Models under Environmental Variability for Vision-based Quadrotor Navigation
Luca Zanatta, Grzegorz Malczyk, Kostas Alexis
World models, learned generative models that predict how an environment evolves, have become a promising tool for sample-efficient robot learning. Yet how robust they are to enviro…
Event-based Civil Infrastructure Visual Defect Detection: ev-CIVIL Dataset and Benchmark
Udayanga G. W. K. N. Gamage, Xuanni Huo, Luca Zanatta +4
Small unmanned aerial vehicle (UAV)-based visual inspections are a more efficient alternative to manual methods for examining civil structural defects, offering safe access to haza…
Cross-Modal Reinforcement Learning for Navigation with Degraded Depth Measurements
Omkar Sawant, Luca Zanatta, Grzegorz Malczyk +1
This paper presents a cross-modal learning framework that exploits complementary information from depth and grayscale images for robust navigation. We introduce a Cross-Modal Wasse…
Foundation Models for Structural Health Monitoring
Luca Benfenati, Daniele Jahier Pagliari, Luca Zanatta +6
Structural Health Monitoring (SHM) is a critical task for ensuring the safety and reliability of civil infrastructures, typically realized on bridges and viaducts by means of vibra…
SpikeStream: Accelerating Spiking Neural Network Inference on RISC-V Clusters with Sparse Computation Extensions
Simone Manoni, Paul Scheffler, Luca Zanatta +3
Spiking Neural Network (SNN) inference has a clear potential for high energy efficiency as computation is triggered by events. However, the inherent sparsity of events poses challe…