research
∙
08/25/2023
iCub Detecting Gazed Objects: A Pipeline Estimating Human Attention
This paper explores the role of eye gaze in human-robot interactions and...
share
research
∙
06/06/2023
A Grasp Pose is All You Need: Learning Multi-fingered Grasping with Deep Reinforcement Learning from Vision and Touch
Multi-fingered robotic hands could enable robots to perform sophisticate...
research
∙
02/21/2023
Self-improving object detection via disagreement reconciliation
Object detectors often experience a drop in performance when new environ...
research
∙
02/10/2023
Key Design Choices for Double-Transfer in Source-Free Unsupervised Domain Adaptation
Fine-tuning and Domain Adaptation emerged as effective strategies for ef...
research
∙
02/07/2023
Look around and learn: self-improving object detection by exploration
Object detectors often experience a drop in performance when new environ...
research
∙
01/31/2023
Collision-aware In-hand 6D Object Pose Estimation using Multiple Vision-based Tactile Sensors
In this paper, we address the problem of estimating the in-hand 6D pose ...
research
∙
09/09/2022
Towards Confidence-guided Shape Completion for Robotic Applications
Many robotic tasks involving some form of 3D visual perception greatly b...
research
∙
09/09/2022
One-Shot Open-Set Skeleton-Based Action Recognition
Action recognition is a fundamental capability for humanoid robots to in...
research
∙
07/27/2022
iCub Being Social: Exploiting Social Cues for Interactive Object Detection Learning
Performing joint interaction requires constant mutual monitoring of own ...
research
∙
06/27/2022
Learn Fast, Segment Well: Fast Object Segmentation Learning on the iCub Robot
The visual system of a robot has different requirements depending on the...
research
∙
03/18/2022
Grasp Pre-shape Selection by Synthetic Training: Eye-in-hand Shared Control on the Hannes Prosthesis
We consider the task of object grasping with a prosthetic hand capable o...
research
∙
11/06/2021
ROFT: Real-Time Optical Flow-Aided 6D Object Pose and Velocity Tracking
6D object pose tracking has been extensively studied in the robotics and...
research
∙
10/22/2021
Handling Concurrency in Behavior Trees
This paper addresses the concurrency issues affecting Behavior Trees (BT...
research
∙
08/02/2021
Active Perception for Ambiguous Objects Classification
Recent visual pose estimation and tracking solutions provide notable res...
research
∙
07/16/2021
Weakly-Supervised Object Detection Learning through Human-Robot Interaction
Reliable perception and efficient adaptation to novel conditions are pri...
research
∙
06/29/2021
On the Implementation of Behavior Trees in Robotics
There is a growing interest in Behavior Trees (BTs) as a tool to describ...
research
∙
06/29/2021
A Toolchain to Design, Execute, and Monitor Robots Behaviors
In this paper, we present a toolchain to design, execute, and verify rob...
research
∙
06/23/2021
Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies
Our research aims to enable automated property verification of deliberat...
research
∙
05/07/2021
Tactile Sensing
Research on tactile sensing has been progressing at constant pace. In ro...
research
∙
05/05/2021
iCub
In this chapter we describe the history and evolution of the iCub humano...
research
∙
03/22/2021
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects
Hand-eye calibration of laser profile sensors is the process of extracti...
research
∙
12/28/2020
Data-efficient Weakly-supervised Learning for On-line Object Detection under Domain Shift in Robotics
Several object detection methods have recently been proposed in the lite...
research
∙
11/25/2020
Fast Object Segmentation Learning with Kernel-based Methods for Robotics
Object segmentation is a key component in the visual system of a robot t...
research
∙
11/25/2020
Fast Region Proposal Learning for Object Detection for Robotics
Object detection is a fundamental task for robots to operate in unstruct...
research
∙
08/21/2020
Task Planning with Belief Behavior Trees
In this paper, we propose Belief Behavior Trees (BBTs), an extension to ...
research
∙
08/21/2020
Compact Belief State Representation for Task Planning
Task planning in a probabilistic belief state domains allows generating ...
research
∙
02/19/2020
Act, Perceive, and Plan in Belief Space for Robot Localization
In this paper, we outline an interleaved acting and planning technique t...
research
∙
02/12/2020
GRASPA 1.0: GRASPA is a Robot Arm graSping Performance benchmArk
The use of benchmarks is a widespread and scientifically meaningful prac...
research
∙
08/05/2019
Analysis and Exploitation of Synchronized Parallel Executions in Behavior Trees
Behavior Trees (BTs) are becoming a popular tool to model the behaviors ...
research
∙
09/13/2018
Improving the Parallel Execution of Behavior Trees
Behavior Trees (BTs) have become a popular framework for designing contr...
research
∙
03/23/2018
Speeding-up Object Detection Training for Robotics with FALKON
Latest deep learning methods for object detection provided remarkable pe...
research
∙
10/12/2017
Markerless visual servoing on unknown objects for humanoid robot platforms
To precisely reach for an object with a humanoid robot, it is of central...
research
∙
09/28/2017
Are we Done with Object Recognition? The iCub robot's Perspective
We report on an extensive study of the current benefits and limitations ...
research
∙
06/27/2017
Independent Motion Detection with Event-driven Cameras
Unlike standard cameras that send intensity images at a constant frame r...
research
∙
10/05/2016
Mobility Map Computations for Autonomous Navigation using an RGBD Sensor
In recent years, the numbers of life-size humanoids as well as their mob...
research
∙
07/18/2016
Intelligent Biohybrid Neurotechnologies: Are They Really What They Claim?
In the era of intelligent biohybrid neurotechnologies for brain repair, ...
research
∙
05/17/2016
Incremental Robot Learning of New Objects with Fixed Update Time
We consider object recognition in the context of lifelong learning, wher...
research
∙
04/13/2015
Real-world Object Recognition with Off-the-shelf Deep Conv Nets: How Many Objects can iCub Learn?
The ability to visually recognize objects is a fundamental skill for rob...
research
∙
11/13/2014
Gaze Stabilization for Humanoid Robots: a Comprehensive Framework
Gaze stabilization is an important requisite for humanoid robots. Previo...
research
∙
06/15/2013