4 papers
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…
Keeping the Franka Emika Panda alive: a ROS 2 stack with a reliable position interface
Antonio Langella, Davide Risi, Vincenzo Petrone +2
This paper presents an open-source software stack that restores ROS 2 support for the Franka Emika Panda robot while resolving the long-standing unreliability of its external posit…
Simplifying ROS2 controllers with a modular architecture for robot-agnostic reference generation
Davide Risi, Vincenzo Petrone, Antonio Langella +3
This paper introduces a novel modular architecture for ROS2 that decouples the logic required to acquire, validate, and interpolate references from the control laws that track them…
Search for Periodic Time Variations of the Solar B Neutrino Flux between 1996 and 2018 in Super-Kamiokande
K. Abe, C. Bronner, Y. Hayato +233
We report a search for time variations of the solar B neutrino flux using 5804 live days of Super-Kamiokande data collected between May 31, 1996, and May 30, 2018. Super-Kamiok…