8 papers
Joint Prediction of Human Motions and Actions in Human-Robot Collaboration
Alessandra Bulanti, Alessandro Carfì, Fulvio Mastrogiovanni
Fluent human--robot collaboration requires robots to continuously estimate human behaviour and anticipate future intentions. This entails reasoning jointly about \emph{continuous m…
A Distributed Multi-Modal Sensing Approach for Human Activity Recognition in Real-Time Human-Robot Collaboration
Valerio Belcamino, Nhat Minh Dinh Le, Quan Khanh Luu +3
Human activity recognition (HAR) is fundamental in human-robot collaboration (HRC), enabling robots to respond to and dynamically adapt to human intentions. This paper introduces a…
Factored Reasoning with Inner Speech and Persistent Memory for Evidence-Grounded Human-Robot Interaction
Valerio Belcamino, Mariya Kilina, Alessandro Carfì +3
Dialogue-based human-robot interaction requires robot cognitive assistants to maintain persistent user context, recover from underspecified requests, and ground responses in extern…
On the Generalization Gap in LLM Planning: Tests and Verifier-Reward RL
Valerio Belcamino, Nicholas Attolino, Alessio Capitanelli +1
Recent work shows that fine-tuned Large Language Models (LLMs) can achieve high valid plan rates on PDDL planning tasks. However, it remains unclear whether this reflects transfera…
IFRA: a machine learning-based Instrumented Fall Risk Assessment Scale derived from Instrumented Timed Up and Go test in stroke patients
Simone Macciò, Alessandro Carfì, Alessio Capitanelli +4
Background/Objectives: Falls represent a major health concern for stroke survivors, necessitating effective risk assessment tools. This study proposes the Instrumented Fall Risk As…
An Event-Based Opto-Tactile Skin
Mohammadreza Koolani, Simeon Bamford, Petr Trunin +5
This paper presents a neuromorphic, event-driven tactile sensing system for soft, large-area skin, based on the Dynamic Vision Sensors (DVS) integrated with a flexible silicone opt…