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

Informazioni relative al progetto

INVERSE

ID dell’accordo di sovvenzione: 101136067

DOI

10.3030/101136067

Data della firma CE 16 Novembre 2023

Data di avvio 1 Gennaio 2024

Data di completamento 31 Dicembre 2027

Finanziato da

• Digital, Industry and Space

Costo totale

€ 7 999 873,50

Contributo UE

€ 7 999 873,50

Coordinato da

UNIVERSITA DEGLI STUDI DI TRENTO
Italy

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Risultati finali

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.

Pubblicazioni

Conference proceedings (17)

Learning Action Primitives in Manipulation Robots

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

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

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

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

Autori: Giuseppe Rauso, Riccardo Caccavale, Vincenzo Lippiello and Alberto Finzi
Pubblicato in: 2025, ISSN 1613-0073
Editore: CEUR-WS

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

Autori: Lee, Dongheui; Valls Mascaro, Esteve
Editore: IEEE
DOI: 10.5281/ZENODO.13945710

MeshDMP: Motion Planning on Discrete Manifolds using Dynamic Movement Primitives

Autori: Matteo Dalle Vedove, Fares j. Abu-Dakka, Luigi Palopoli, Daniele Fontanelli, Matteo Saveriano
Pubblicato in: 2024
Editore: IEEE
DOI: 10.48550/arXiv.2410.15123

Incremental Learning of Robotic Manipulation Tasks through Virtual Reality Demonstrations

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

Learning Shared Encoding of Related Robotic Tasks

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

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

Autori: Lunardi, Gianni; La Rocca, Asia; Saveriano, Matteo; Del Prete, Andrea
Pubblicato in: ISBN 979-8-3503-8457-4
Editore: IEEE
DOI: 10.1109/ICRA57147.2024.10611467

Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions

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

Backwards Planning from Onward Task Demonstrations via Vision-Language Models

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

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

Autori: Lamon, Edoardo; Fontanelli, Daniele; Palopoli, Luigi; Saveriano, Matteo
Pubblicato in: ISSN 2161-8089
Editore: IEEE
DOI: 10.48550/ARXIV.2408.10580

Inverse Skill Learning From Demonstrations via Reinforcement Learning

Autori: Bora Toprak Temir, Emre Uğur
Pubblicato in: 2025 33rd Signal Processing and Communications Applications Conference (SIU), 2025
Editore: IEEE
DOI: 10.1109/SIU66497.2025.11112176

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

Autori: Jaime Duque-Domingo, Riccardo Caccavale, Alberto Finzi, Eduardo Zalama, Jaime Gòmez-Garcìa-Bermejo
Pubblicato in: 2025, ISSN 1613-0073
Editore: CEUR-WS

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

Autori: Giuseppe Rauso, Riccardo Caccavale, Alberto Finzi
Pubblicato in: 2024, ISSN 1613-0073
Editore: CEUR-WS

Mobil Robotlarda Sosyal Navigasyon Öğrenme Learning Social Navigation in Mobile Robots

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

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

Autori: Saccon, Enrico; Tikna, Ahmet; Lamon, Edoardo; Roveri, Marco; Palopoli, Luigi
Pubblicato in: ISBN 979-8-3503-8457-4
Editore: IEEE
DOI: 10.48550/ARXIV.2309.15049

Programming of Skill-Based Robots

Autori: Soutukorva, Samuli; Soutukorva, Samuli; Lohi, Taneli
Editore: IEEE
DOI: 10.1109/ICIEA61579.2024.10664981

Peer reviewed articles (22)

Interactive Incremental Learning of Generalizable Skills With Local Trajectory Modulation

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

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

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

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

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

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

Autori: Fares Abu-Dakka, Matteo Saveriano, Luka Peternel
Pubblicato in: Robotics and Autonomous Systems, Numero 180, 2024, ISSN 0921-8890
Editore: Elsevier BV
DOI: 10.1016/J.ROBOT.2024.104763

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

Autori: Abhishek Padalkar; Gabriel Quere; Antonin Raffin; João Silvério; Freek Stulp
Pubblicato in: Autonomous Robots, 2024, ISSN 1573-7527
Editore: Springer
DOI: 10.1007/s10514-024-10164-6

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

Autori: Ada, Suzan Ece; Ugur, Emre
Pubblicato in: IEEE Robotics and Automation Letters (RA-L), ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2024.3443496

Symbolic Manipulation Planning with Discovered Object and Relational Predicates

Autori: Ahmetoglu, Alper; Oztop, Erhan; Ugur, Emre
Pubblicato in: IEEE Robotics and Automation Letters (RA-L), ISSN 2377-3766
Editore: IEEE
DOI: 10.4855/ARXIV:2401.01123

RAMPA: Robotic Augmented Reality for Machine Programming by DemonstrAtion

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

Information (Switzerland)

Autori: Escallada Lopez, Oscar; Lasa, Ganix; Mazmela Etxabe, Maitane; Apraiz Iriarte, Ainhoa; Osa Arzuaga, Nagore; Nguyen Ngoc, Hien
Pubblicato in: Information, ISSN 2078-2489
Editore: MDPI
DOI: 10.3390/INFO16010035

Robotics goes PRISMA

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

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

Autori: Oztop, Erhan; Ada, Suzan Ece; Ugur, Emre
Pubblicato in: IEEE Robotics and Automation Letters (RA-L), ISSN 2377-3766
Editore: IEEE
DOI: 10.48550/ARXIV.2307.04726

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

Autori: Suzan Ece Ada, Hanne Say, Emre Ugur, Erhan Oztop
Pubblicato in: IEEE Access, Numero 12, 2024, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/ACCESS.2024.3402089

Discovering Predictive Relational Object Symbols With Symbolic Attentive Layers

Autori: Ahmetoglu, Alper; ÇELİK, BATUHAN; Oztop, Erhan; Ugur, Emre
Pubblicato in: IEEE Robotics and Automation Letters (RA-L), ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2024.3350994

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

Autori: Sayantan Auddy, Antonio Paolillo, Justus Piater, Matteo Saveriano
Pubblicato in: Robotics and Autonomous Systems, Numero 190, 2025, ISSN 0921-8890
Editore: Elsevier BV
DOI: 10.1016/J.ROBOT.2025.104971

Neurocomputing

Autori: Saveriano, Matteo; Kyrki, Ville; Abu-Dakka, Fares J.
Pubblicato in: Neurocomputing, ISSN 0925-2312
Editore: Elsevier
DOI: 10.1016/J.NEUCOM.2024.128056

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

Autori: Michel, Youssef; Saveriano, Matteo; Lee, Dongheui
Pubblicato in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Editore: IEEE Robotics and Automation Letters
DOI: 10.1109/LRA.2024.3389556

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

Autori: Abu-Dakka, Fares J.; Saveriano, Matteo; Peternel, Luka
Pubblicato in: Robotics and Autonomous Systems, 2024, ISSN 0921-8890
Editore: Elsevier
DOI: 10.1016/j.robot.2024.104763

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

Autori: Gennaro Notomista, Gary P. T. Choi, Matteo Saveriano
Pubblicato in: IEEE Transactions on Control Systems Technology, Numero 33, 2025, ISSN 1063-6536
Editore: 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

Autori: Braun, Philipp; Bhardwaj, Abhishek; Brentari, Mirko; Zaccarian, Luca; Saveriano, Matteo
Pubblicato in: Automatica, ISSN 1873-2836
Editore: 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

Autori: Oscar Escallada, Nagore Osa, Ganix Lasa, Maitane Mazmela, Fatih Doğangün, Yigit Yildirim, Serdar Bahar, Emre Ugur
Pubblicato in: Multimodal Technologies and Interaction, Numero 9, 2025, ISSN 2414-4088
Editore: MDPI AG
DOI: 10.3390/MTI9030027

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

Autori: Luca Beber, Edoardo Lamon, Giacomo Moretti, Matteo Saveriano, Luca Fambri, Luigi Palopoli, Daniele Fontanelli
Pubblicato in: IEEE Transactions on Instrumentation and Measurement, Numero 74, 2025, ISSN 0018-9456
Editore: 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

Autori: Oscar Escallada, Ganix Lasa, Maitane Mazmela, Ainhoa Apraiz, Nagore Osa, Hien Nguyen Ngoc
Pubblicato in: Information, Numero 16, 2025, ISSN 2078-2489
Editore: MDPI AG
DOI: 10.3390/INFO16010035

Book chapters (1)

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

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