8 papers
A Service Robot in the Wild: Analysis of Users Intentions, Robot Behaviors, and Their Impact on the Interaction
Simone Arreghini, Gabriele Abbate, Alessandro Giusti +1
We consider a service robot that offers chocolate treats to people passing in its proximity: it has the capability of predicting in advance a person's intention to interact, and to…
Systematic analysis of requirements for socially acceptable service robots
Andrea Ruo, Simone Arreghini, Luca Capra +13
In modern society, service robots are increasingly recognized for their wide range of practical applications. In large and crowded social spaces, such as museums and hospitals, the…
Visual Servoing with Geometrically Interpretable Neural Perception
Antonio Paolillo, Mirko Nava, Dario Piga +1
An increasing number of nonspecialist robotic users demand easy-to-use machines. In the context of visual servoing, the removal of explicit image processing is becoming a trend, al…
Learning Stable Dynamical Systems for Visual Servoing
Antonio Paolillo, Matteo Saveriano
This work presents the dual benefit of integrating imitation learning techniques, based on the dynamical systems formalism, with the visual servoing paradigm. On the one hand, dyna…
Uncertainty-Aware Self-Supervised Learning of Spatial Perception Tasks
Mirko Nava, Antonio Paolillo, Jérôme Guzzi +2
We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. T…
A memory of motion for visual predictive control tasks
Antonio Paolillo, Teguh Santoso Lembono, Sylvain Calinon
This paper addresses the problem of efficiently achieving visual predictive control tasks. To this end, a memory of motion, containing a set of trajectories built off-line, is used…