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

Informations projet

INVERSE

N° de convention de subvention: 101136067

DOI

10.3030/101136067

Date de signature de la CE 16 Novembre 2023

Date de début 1 Janvier 2024

Date de fin 31 Decembre 2027

Financé au titre de

• Digital, Industry and Space

Coût total

€ 7 999 873,50

Contribution de l’UE

€ 7 999 873,50

Coordonné par

UNIVERSITA DEGLI STUDI DI TRENTO
Italy

CORDIS fournit des liens vers les livrables publics et les publications des projets HORIZON.

Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .

Livrables

Other (2)

First prototype of task inversion and quality monitoring

Initial version of the s/w frameworks for flexible execution and planning of structured invertible tasks.

First prototype of scene and human understanding systems

Preliminary versions of the annotated dataset for visual perception, s/w for semantic scene labelling and online human motion segmentation.

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 (17)

Learning Action Primitives in Manipulation Robots

Auteurs: Burcu Kılıç, Alper Ahmetoğlu, Emre Uğur
Publié dans: 2025 33rd Signal Processing and Communications Applications Conference (SIU), 2025
Éditeur: IEEE
DOI: 10.1109/SIU66497.2025.11111831

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

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

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

Auteurs: Giuseppe Rauso, Riccardo Caccavale, Vincenzo Lippiello and Alberto Finzi
Publié dans: ISSN 1613-0073
Éditeur: CEUR-WS

Know your limits! Optimize the robot's behavior through self-awareness

Auteurs: Lee, Dongheui; Valls Mascaro, Esteve
Éditeur: IEEE
DOI: 10.5281/ZENODO.13945710

MeshDMP: Motion Planning on Discrete Manifolds using Dynamic Movement Primitives

Auteurs: Matteo Dalle Vedove, Fares j. Abu-Dakka, Luigi Palopoli, Daniele Fontanelli, Matteo Saveriano
Éditeur: IEEE
DOI: 10.48550/arXiv.2410.15123

Incremental Learning of Robotic Manipulation Tasks through Virtual Reality Demonstrations

Auteurs: Giuseppe Rauso, Riccardo Caccavale, Alberto Finzi
Publié dans: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Éditeur: IEEE
DOI: 10.1109/IROS58592.2024.10802774

Learning Shared Encoding of Related Robotic Tasks

Auteurs: Serdar Bahar, Yiğit Yıldırım, Emre Uğur
Publié dans: 2025 33rd Signal Processing and Communications Applications Conference (SIU), 2025
Éditeur: IEEE
DOI: 10.1109/SIU66497.2025.11112504

Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set

Auteurs: Lunardi, Gianni; La Rocca, Asia; Saveriano, Matteo; Del Prete, Andrea
Publié dans: ISBN 979-8-3503-8457-4
Éditeur: IEEE
DOI: 10.1109/ICRA57147.2024.10611467

Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions

Auteurs: Zheng, Shen; Saveriano, Matteo; Abu-Dakka, Fares; Haddadin, Sami
Éditeur: cs.RO
DOI: 10.48550/ARXIV.2403.05447

Backwards Planning from Onward Task Demonstrations via Vision-Language Models

Auteurs: Ahmet Fırat Gamsız, Deniz Bilge Akkoç, Yiğit Yıldırım ve Emre Uğur
Publié dans: 2025 33rd Signal Processing and Communications Applications Conference (SIU), 2025
Éditeur: IEEE
DOI: 10.1109/SIU66497.2025.11111760

A Passivity-Based Variable Impedance Controller for Incremental Learning of Periodic Interactive Tasks

Auteurs: Lamon, Edoardo; Fontanelli, Daniele; Palopoli, Luigi; Saveriano, Matteo
Publié dans: ISSN 2161-8089
Éditeur: IEEE
DOI: 10.48550/ARXIV.2408.10580

Inverse Skill Learning From Demonstrations via Reinforcement Learning

Auteurs: Bora Toprak Temir, Emre Uğur
Publié dans: 2025 33rd Signal Processing and Communications Applications Conference (SIU), 2025
Éditeur: IEEE
DOI: 10.1109/SIU66497.2025.11112176

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

Auteurs: Jaime Duque-Domingo, Riccardo Caccavale, Alberto Finzi, Eduardo Zalama, Jaime Gòmez-Garcìa-Bermejo
Publié dans: ISSN 1613-0073
Éditeur: CEUR-WS

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

Auteurs: Giuseppe Rauso, Riccardo Caccavale, Alberto Finzi
Publié dans: ISSN 1613-0073
Éditeur: CEUR-WS

Mobil Robotlarda Sosyal Navigasyon Öğrenme Learning Social Navigation in Mobile Robots

Auteurs: Berke Kartal, Arınç Demir, Emre Uğur, Yiğit Yıldırım, Zeynep Aktaş
Publié dans: 2025 33rd Signal Processing and Communications Applications Conference (SIU), 2025
Éditeur: IEEE
DOI: 10.1109/SIU66497.2025.11111877

When Prolog meets generative models: a new approach for managing knowledge and planning in robotic applications

Auteurs: Saccon, Enrico; Tikna, Ahmet; Lamon, Edoardo; Roveri, Marco; Palopoli, Luigi
Publié dans: ISBN 979-8-3503-8457-4
Éditeur: IEEE
DOI: 10.48550/ARXIV.2309.15049

Programming of Skill-Based Robots

Auteurs: Soutukorva, Samuli; Soutukorva, Samuli; Lohi, Taneli
Éditeur: IEEE
DOI: 10.1109/ICIEA61579.2024.10664981

Peer reviewed articles (23)

Interactive Incremental Learning of Generalizable Skills With Local Trajectory Modulation

Auteurs: Markus Knauer, Alin Albu-Schäffer, Freek Stulp, João Silvério
Publié dans: IEEE Robotics and Automation Letters, Numéro 10, 2025, ISSN 2377-3766
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3542209

Collaborative Synergy in Industry: Exploring Human-Robot Interaction and Cognitive Robotics

Auteurs: Osa, Nagore; Lasa, Ganix; Mazmela, Maitane; Apraiz Iriarte, Ainhoa; Escallada Lopez, Oscar
Publié dans: 28th International Congress on Project Management and Engineering, ISSN 2695-5067
Éditeur: AEIPRO
DOI: 10.5281/ZENODO.12635979

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

Auteurs: Tuba Girgin, Emre Uğur
Publié dans: IEEE Transactions on Cognitive and Developmental Systems, 2024, ISSN 2379-8920
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TCDS.2024.3520086

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

Auteurs: Fares Abu-Dakka, Matteo Saveriano, Luka Peternel
Publié dans: Robotics and Autonomous Systems, Numéro 180, 2024, ISSN 0921-8890
Éditeur: Elsevier BV
DOI: 10.1016/J.ROBOT.2024.104763

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

Auteurs: Abhishek Padalkar; Gabriel Quere; Antonin Raffin; João Silvério; Freek Stulp
Publié dans: Autonomous Robots, 2024, ISSN 1573-7527
Éditeur: Springer
DOI: 10.1007/s10514-024-10164-6

Unsupervised Meta-Testing With Conditional Neural Processes for Hybrid Meta-Reinforcement Learning

Auteurs: Ada, Suzan Ece; Ugur, Emre
Publié dans: IEEE Robotics and Automation Letters (RA-L), ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2024.3443496

Conditional Neural Expert Processes for Learning from Demonstration

Auteurs: Yildirim, Yigit; Ugur, Emre
Publié dans: Robotics and Automation Letters, 2024, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2024.3477169

Symbolic Manipulation Planning with Discovered Object and Relational Predicates

Auteurs: Ahmetoglu, Alper; Oztop, Erhan; Ugur, Emre
Publié dans: IEEE Robotics and Automation Letters (RA-L), ISSN 2377-3766
Éditeur: IEEE
DOI: 10.4855/ARXIV:2401.01123

RAMPA: Robotic Augmented Reality for Machine Programming by DemonstrAtion

Auteurs: Fatih Dogangun, Serdar Bahar, Yigit Yildirim, Bora Toprak Temir, Emre Ugur, Mustafa Doga Dogan
Publié dans: IEEE Robotics and Automation Letters, Numéro 10, 2025, ISSN 2377-3766
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3546109

Information (Switzerland)

Auteurs: Escallada Lopez, Oscar; Lasa, Ganix; Mazmela Etxabe, Maitane; Apraiz Iriarte, Ainhoa; Osa Arzuaga, Nagore; Nguyen Ngoc, Hien
Publié dans: Information, ISSN 2078-2489
Éditeur: MDPI
DOI: 10.3390/INFO16010035

Robotics goes PRISMA

Auteurs: SELVAGGIO, MARIO; Moccia, Rocco; Arpenti, Pierluigi; Caccavale, Riccardo; Corcella, Fabio; Cacace, Jonathan; FICUCIELLO, FANNY; FINZI, Alberto; Lippiello, Vincenzo; Villani, Luigi; Siciliano, Bruno
Publié dans: Robotica, 2024, ISSN 0263-5747
Éditeur: Robotica
DOI: 10.1017/S026357472400033X

Diffusion Policies for Out-of-Distribution Generalization in Offline Reinforcement Learning

Auteurs: Oztop, Erhan; Ada, Suzan Ece; Ugur, Emre
Publié dans: IEEE Robotics and Automation Letters (RA-L), ISSN 2377-3766
Éditeur: IEEE
DOI: 10.48550/ARXIV.2307.04726

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

Auteurs: Suzan Ece Ada, Hanne Say, Emre Ugur, Erhan Oztop
Publié dans: IEEE Access, Numéro 12, 2024, ISSN 2169-3536
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/ACCESS.2024.3402089

Discovering Predictive Relational Object Symbols With Symbolic Attentive Layers

Auteurs: Ahmetoglu, Alper; ÇELİK, BATUHAN; Oztop, Erhan; Ugur, Emre
Publié dans: IEEE Robotics and Automation Letters (RA-L), ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2024.3350994

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

Auteurs: Sayantan Auddy, Antonio Paolillo, Justus Piater, Matteo Saveriano
Publié dans: Robotics and Autonomous Systems, Numéro 190, 2025, ISSN 0921-8890
Éditeur: Elsevier BV
DOI: 10.1016/J.ROBOT.2025.104971

Neurocomputing

Auteurs: Saveriano, Matteo; Kyrki, Ville; Abu-Dakka, Fares J.
Publié dans: Neurocomputing, ISSN 0925-2312
Éditeur: Elsevier
DOI: 10.1016/J.NEUCOM.2024.128056

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

Auteurs: Michel, Youssef; Saveriano, Matteo; Lee, Dongheui
Publié dans: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Éditeur: IEEE Robotics and Automation Letters
DOI: 10.1109/LRA.2024.3389556

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

Auteurs: Abu-Dakka, Fares J.; Saveriano, Matteo; Peternel, Luka
Publié dans: Robotics and Autonomous Systems, 2024, ISSN 0921-8890
Éditeur: Elsevier
DOI: 10.1016/j.robot.2024.104763

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

Auteurs: Gennaro Notomista, Gary P. T. Choi, Matteo Saveriano
Publié dans: IEEE Transactions on Control Systems Technology, Numéro 33, 2025, ISSN 1063-6536
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TCST.2025.3526377

Static anti-windup with shifted equilibria applied to a Segway-like vehicle

Auteurs: Braun, Philipp; Bhardwaj, Abhishek; Brentari, Mirko; Zaccarian, Luca; Saveriano, Matteo
Publié dans: Automatica, ISSN 1873-2836
Éditeur: Elsevier
DOI: 10.1016/J.AUTOMATICA.2024.111830

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

Auteurs: Oscar Escallada, Nagore Osa, Ganix Lasa, Maitane Mazmela, Fatih Doğangün, Yigit Yildirim, Serdar Bahar, Emre Ugur
Publié dans: Multimodal Technologies and Interaction, Numéro 9, 2025, ISSN 2414-4088
Éditeur: MDPI AG
DOI: 10.3390/MTI9030027

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

Auteurs: Luca Beber, Edoardo Lamon, Giacomo Moretti, Matteo Saveriano, Luca Fambri, Luigi Palopoli, Daniele Fontanelli
Publié dans: IEEE Transactions on Instrumentation and Measurement, Numéro 74, 2025, ISSN 0018-9456
Éditeur: 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

Auteurs: Oscar Escallada, Ganix Lasa, Maitane Mazmela, Ainhoa Apraiz, Nagore Osa, Hien Nguyen Ngoc
Publié dans: Information, Numéro 16, 2025, ISSN 2078-2489
Éditeur: MDPI AG
DOI: 10.3390/INFO16010035

Book chapters (1)

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

Auteurs: Giuseppe Rauso, Riccardo Caccavale, Alberto Finzi
Publié dans: Lecture Notes in Computer Science, AIxIA 2024 – Advances in Artificial Intelligence, 2024
Éditeur: Springer Nature Switzerland
DOI: 10.1007/978-3-031-80607-0_18