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Learning from Relative Action Credit for Escaping Local Minima
Giovanni Minelli, Giulio Turrisi, Lorenzo Amatucci +2
Reinforcement learning holds the promise of robots that learn manipulation skills from interaction alone, without pretrained priors or demonstration data. In practice, on-policy me…
From Tabletop to Walking Bot: Deploying a VLA Model on a Legged Manipulator Robot
Giovanni Minelli, Antonio Langella, Giovanni B. Dessy +4
Vision-language-action (VLA) models are typically pretrained on broad, diverse datasets and subsequently fine-tuned on a comparatively small dataset tailored to a specific target r…
BinWalker: Development and Field Evaluation of a Quadruped Manipulator Platform for Sustainable Litter Collection
Giulio Turrisi, Angelo Bratta, Giovanni Minelli +4
Litter pollution represents a growing environmental problem affecting natural and urban ecosystems worldwide. Waste discarded in public spaces often accumulates in areas that are d…