43 citations · 83 across the 10 of their papers we have counts for
11 papers
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…
Achieving Scalable Robot Autonomy via neurosymbolic planning using lightweight local LLM
Nicholas Attolino, Alessio Capitanelli, Fulvio Mastrogiovanni
PDDL-based symbolic task planning remains pivotal for robot autonomy yet struggles with dynamic human-robot collaboration due to scalability, re-planning demands, and delayed plan…
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…
A Framework for Neurosymbolic Robot Action Planning using Large Language Models
Alessio Capitanelli, Fulvio Mastrogiovanni
Symbolic task planning is a widely used approach to enforce robot autonomy due to its ease of understanding and deployment in robot architectures. However, techniques for symbolic…
Collaborative Robotic Manipulation: A Use Case of Articulated Objects in Three-dimensions with Gravity
Riccardo Bertolucci, Alessio Capitanelli, Marco Maratea +2
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such…
Manipulation of Articulated Objects using Dual-arm Robots via Answer Set Programming
Riccardo Bertolucci, Alessio Capitanelli, Carmine Dodaro +4
The manipulation of articulated objects is of primary importance in Robotics, and can be considered as one of the most complex manipulation tasks. Traditionally, this problem has b…
Long-term area coverage and radio relay positioning using swarms of UAVs
Floriana Benedetti, Alessio Capitanelli, Fulvio Mastrogiovanni +1
Unmanned Aerial Vehicles (UAVs) are becoming increasingly useful for tasks which require the acquisition of data over large areas. The coverage problem, i.e., the problem of period…
A 2D laser rangefinder scans dataset of standard EUR pallets
Ihab S. Mohamed, Alessio Capitanelli, Fulvio Mastrogiovanni +2
In the past few years, the technology of automated guided vehicles (AGVs) has notably advanced. In particular, in the context of factory and warehouse automation, different approac…
Detection, localisation and tracking of pallets using machine learning techniques and 2D range data
Ihab S. Mohamed, Alessio Capitanelli, Fulvio Mastrogiovanni +2
The problem of autonomous transportation in industrial scenarios is receiving a renewed interest due to the way it can revolutionise internal logistics, especially in unstructured…
On the manipulation of articulated objects in human-robot cooperation scenarios
Alessio Capitanelli, Marco Maratea, Fulvio Mastrogiovanni +1
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. C…
A ROS multi-ontology references services: OWL reasoners and application prototyping issues
Luca Buoncompagni, Alessio Capitanelli, Fulvio Mastrogiovanni
This paper introduces a ROS Multi Ontology References (ARMOR) service, a general-purpose and scalable interface between robot architectures and OWL reasoners. ARMOR addresses synch…