INteractive robots that intuitiVely lEarn to inVErt tasks by ReaSoning about their Execution

Project Information

INVERSE

Grant agreement ID: 101136067

DOI

10.3030/101136067

EC signature date 16 November 2023

Start date 1 January 2024

End date 31 December 2027

Funded under

• Digital, Industry and Space

Total cost

€ 7 999 873,50

EU contribution

€ 7 999 873,50

Coordinated by

UNIVERSITA DEGLI STUDI DI TRENTO
Italy

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (1)

Knowledge base definition and organisation

Definition of a knowledge base structure suitable to store direct and inverse tasks with specification on the quality of execution.

Publications

Conference proceedings (11)

Learning Action Primitives in Manipulation Robots

Author(s): Burcu Kılıç, Alper Ahmetoğlu, Emre Uğur
Published in: 2025 33rd Signal Processing and Communications Applications Conference (SIU), 2025
Publisher: IEEE
DOI: 10.1109/SIU66497.2025.11111831

Augmented Reality-Driven Machine Learning Techniques for Gripper-Integrated Robotics

Author(s): Ramazan Onur Acar, M. Talha Başıbüyük, Serdar Bahar, Emre Uğur, Yiğit Yıldırım, Mustafa Doğa Doğan
Published in: 2025 33rd Signal Processing and Communications Applications Conference (SIU), 2025
Publisher: IEEE
DOI: 10.1109/SIU66497.2025.11112043

Integrating Text-Visual and Task Attention for Language-Guided Robot Learning

Author(s): Giuseppe Rauso, Riccardo Caccavale, Vincenzo Lippiello and Alberto Finzi
Published in: 2025, ISSN 1613-0073
Publisher: CEUR-WS

MeshDMP: Motion Planning on Discrete Manifolds using Dynamic Movement Primitives

Author(s): Matteo Dalle Vedove, Fares j. Abu-Dakka, Luigi Palopoli, Daniele Fontanelli, Matteo Saveriano
Published in: 2024
Publisher: IEEE
DOI: 10.48550/arXiv.2410.15123

Incremental Learning of Robotic Manipulation Tasks through Virtual Reality Demonstrations

Author(s): Giuseppe Rauso, Riccardo Caccavale, Alberto Finzi
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10802774

Learning Shared Encoding of Related Robotic Tasks

Author(s): Serdar Bahar, Yiğit Yıldırım, Emre Uğur
Published in: 2025 33rd Signal Processing and Communications Applications Conference (SIU), 2025
Publisher: IEEE
DOI: 10.1109/SIU66497.2025.11112504

Backwards Planning from Onward Task Demonstrations via Vision-Language Models

Author(s): Ahmet Fırat Gamsız, Deniz Bilge Akkoç, Yiğit Yıldırım ve Emre Uğur
Published in: 2025 33rd Signal Processing and Communications Applications Conference (SIU), 2025
Publisher: IEEE
DOI: 10.1109/SIU66497.2025.11111760

Inverse Skill Learning From Demonstrations via Reinforcement Learning

Author(s): Bora Toprak Temir, Emre Uğur
Published in: 2025 33rd Signal Processing and Communications Applications Conference (SIU), 2025
Publisher: IEEE
DOI: 10.1109/SIU66497.2025.11112176

One-Shot Learning for Robotic Manipulators: Rapid Replication of Human Activities from a Single Demonstration

Author(s): Jaime Duque-Domingo, Riccardo Caccavale, Alberto Finzi, Eduardo Zalama, Jaime Gòmez-Garcìa-Bermejo
Published in: 2025, ISSN 1613-0073
Publisher: CEUR-WS

Learning Robotic Manipulation Tasks based on Incremental Demonstrations in a Virtual Environment

Author(s): Giuseppe Rauso, Riccardo Caccavale, Alberto Finzi
Published in: 2024, ISSN 1613-0073
Publisher: CEUR-WS

Mobil Robotlarda Sosyal Navigasyon Öğrenme Learning Social Navigation in Mobile Robots

Author(s): Berke Kartal, Arınç Demir, Emre Uğur, Yiğit Yıldırım, Zeynep Aktaş
Published in: 2025 33rd Signal Processing and Communications Applications Conference (SIU), 2025
Publisher: IEEE
DOI: 10.1109/SIU66497.2025.11111877

Peer reviewed articles (13)

Interactive Incremental Learning of Generalizable Skills With Local Trajectory Modulation

Author(s): Markus Knauer, Alin Albu-Schäffer, Freek Stulp, João Silvério
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3542209

Multi-Object Graph Affordance Network: Goal-Oriented Planning through Learned Compound Object Affordances

Author(s): Tuba Girgin, Emre Uğur
Published in: IEEE Transactions on Cognitive and Developmental Systems, 2024, ISSN 2379-8920
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TCDS.2024.3520086

Learning periodic skills for robotic manipulation: Insights on orientation and impedance

Author(s): Fares Abu-Dakka, Matteo Saveriano, Luka Peternel
Published in: Robotics and Autonomous Systems, Issue 180, 2024, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/J.ROBOT.2024.104763

Guiding real-world reinforcement learning for in-contact manipulation tasks with Shared Control Templates

Author(s): Abhishek Padalkar; Gabriel Quere; Antonin Raffin; João Silvério; Freek Stulp
Published in: Autonomous Robots, 2024, ISSN 1573-7527
Publisher: Springer
DOI: 10.1007/s10514-024-10164-6

RAMPA: Robotic Augmented Reality for Machine Programming by DemonstrAtion

Author(s): Fatih Dogangun, Serdar Bahar, Yigit Yildirim, Bora Toprak Temir, Emre Ugur, Mustafa Doga Dogan
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3546109

Robotics goes PRISMA

Author(s): SELVAGGIO, MARIO; Moccia, Rocco; Arpenti, Pierluigi; Caccavale, Riccardo; Corcella, Fabio; Cacace, Jonathan; FICUCIELLO, FANNY; FINZI, Alberto; Lippiello, Vincenzo; Villani, Luigi; Siciliano, Bruno
Published in: Robotica, 2024, ISSN 0263-5747
Publisher: Robotica
DOI: 10.1017/S026357472400033X

Bidirectional Progressive Neural Networks With Episodic Return Progress for Emergent Task Sequencing and Robotic Skill Transfer

Author(s): Suzan Ece Ada, Hanne Say, Emre Ugur, Erhan Oztop
Published in: IEEE Access, Issue 12, 2024, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/ACCESS.2024.3402089

Imitation learning-based Direct Visual Servoing using the large projection formulation

Author(s): Sayantan Auddy, Antonio Paolillo, Justus Piater, Matteo Saveriano
Published in: Robotics and Autonomous Systems, Issue 190, 2025, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/J.ROBOT.2025.104971

A Novel Safety-Aware Energy Tank Formulation Based on Control Barrier Functions

Author(s): Michel, Youssef; Saveriano, Matteo; Lee, Dongheui
Published in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/LRA.2024.3389556

Reactive Robot Navigation Using Quasi-Conformal Mappings and Control Barrier Functions

Author(s): Gennaro Notomista, Gary P. T. Choi, Matteo Saveriano
Published in: IEEE Transactions on Control Systems Technology, Issue 33, 2025, ISSN 1063-6536
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TCST.2025.3526377

Human Attitudes in Robotic Path Programming: A Pilot Study of User Experience in Manual and XR-Controlled Robotic Arm Manipulation

Author(s): Oscar Escallada, Nagore Osa, Ganix Lasa, Maitane Mazmela, Fatih Doğangün, Yigit Yildirim, Serdar Bahar, Emre Ugur
Published in: Multimodal Technologies and Interaction, Issue 9, 2025, ISSN 2414-4088
Publisher: MDPI AG
DOI: 10.3390/MTI9030027

Force-Based Viscosity and Elasticity Measurements for Material Biomechanical Characterization With a Collaborative Robotic Arm

Author(s): Luca Beber, Edoardo Lamon, Giacomo Moretti, Matteo Saveriano, Luca Fambri, Luigi Palopoli, Daniele Fontanelli
Published in: IEEE Transactions on Instrumentation and Measurement, Issue 74, 2025, ISSN 0018-9456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TIM.2025.3581663

Assessing Human Factors in Virtual Reality Environments for Industry 5.0: A Comprehensive Review of Factors, Metrics, Techniques, and Future Opportunities

Author(s): Oscar Escallada, Ganix Lasa, Maitane Mazmela, Ainhoa Apraiz, Nagore Osa, Hien Nguyen Ngoc
Published in: Information, Issue 16, 2025, ISSN 2078-2489
Publisher: MDPI AG
DOI: 10.3390/INFO16010035

Book chapters (1)

Combined Text-Visual Attention Models for Robot Task Learning and Execution

Author(s): Giuseppe Rauso, Riccardo Caccavale, Alberto Finzi
Published in: Lecture Notes in Computer Science, AIxIA 2024 – Advances in Artificial Intelligence, 2024
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-80607-0_18