LORENZO NATALE

Deep Reinforcement Learning (DRL) has proven effective in learning control policies using robotic grippers, but much less practical for solving the problem of grasping with dexterous hands - especially on real robotic platforms - due to the high dimensionality of the problem. In this letter, we focus on the multi-fingered grasping task with the...

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In this paper we tackle the problem of object recognition using haptic feedback from a robot holding and manipulating different objects. One of the main challenges in this setting is to understand the role of different sensory modalities (namely proprioception, object weight from F/T sensors and touch) and how to combine them to correctly...

In this paper we present an efficient active learning strategy applied to the problem of tactile exploration of an object's surface. The method uses Gaussian process (GPs) classification to efficiently sample the surface of the object in order to reconstruct its shape. The proposed method iteratively samples the surface of the object, while,...

The development of reliable and robust visual recognition systems is a main challenge towards the deployment of autonomous robotic agents in unconstrained environments. Learning to recognize objects requires image representations that are discriminative to relevant information while being invariant to nuisances, such as scaling, rotations,...

Providing robots with accurate and robust visual recognition capabilities in the real-world today is a challenge which prevents the use of autonomous agents for concrete applications. Indeed, the majority of tasks, as manipulation and interaction with other agents, critically depends on the ability to visually recognize the entities involved in...

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We consider object recognition in the context oflifelong learning, where a robotic agent learns to discriminate between a growing number of object classes as it accumulates experience about the environment. We propose an incremental variant of the Regularized Least Squares for Classification(RLSC) algorithm, and...

The visual system of a robot has different requirements depending on the application: it may require high accuracy or reliability, be constrained by limited resources or need fast adaptation to dynamically changing environments. In this work, we focus on the instance segmentation task and provide a comprehensive study of different techniques...

The visual system of a robot has different requirements depending on the application: it may require high accuracy or reliability, be constrained by limited resources or need fast adaptation to dynamically changing environments. In this work, we focus on the instance segmentation task and provide a comprehensive study of different techniques...

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