antonio paolillo   

Antonio Paolillo

Researcher

IDSIA Dalle Molle Institute for Artificial Intelligence, USI-SUPSI
Lugano, Switzerland

antonio [dot] paolillo [at] idsia.ch / supsi.ch

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Publications

Journal papers

  • G. Abbate, A. Giusti, L. Randazzo, A. Paolillo, "A mirror therapy system using virtual reality and an actuated exoskeleton for the recovery of hand motor impairments: a study of acceptability, usability, and embodiment," Scientific Reports, vol. 13, December 2023, 22881 (online since Dec. 2023) DOI: 10.1038/s41598-023-49571-7 videopdfbib

  • G. Abbate, A. Giusti, V. Schmuck, O. Celiktutan, A. Paolillo, "Self-Supervised Prediction of the Intention to Interact with a Service Robot," Robotics and Autonomous Systems, vol. 171, January 2024, 104568 (online since Oct. 2023). DOI: 10.1016/j.robot.2023.104568 videopdfbib

  • A. Paolillo, M. Forgione, D. Piga, E. Mingo Hoffman, "Fast Predictive Visual Servoing: a Reference Governor-based Approach," Control Engineering Practice, vol. 136, 105521, July 2023 (online since Apr. 2023). DOI: 10.1016/j.conengprac.2023.105521videopdfbib

  • A. Paolillo, F. Colella, N. Nosengo, F. Schiano, W. Stewart, D. Zambrano, I. Chappuis, R. Lalive, D. Floreano, "How to compete with robots by assessing job automation risks and resilient alternatives, Science Robotics 7 (65), eabg5561, 2022. DOI: 10.1126/scirobotics.abg5561bib

  • M. Nava, A. Paolillo, J. Guzzi, L. Gambardella, A. Giusti, "Learning Visual Localization of a Quadrotor Using its Noise as Self-Supervision," IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2218-2225, Apr. 2022 (online since Jan. 2022). DOI: 10.1109/LRA.2022.3143565videobib

  • M. Nava, A. Paolillo, J. Guzzi, L. M. Gambardella, A. Giusti, "Uncertainty-Aware Self-Supervised Learning of Spatial Perception Tasks," IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6693-6700, Oct. 2021 (on line since 7 July 2021). DOI: 10.1109/LRA.2021.3095269pdfbib

  • T. S. Lembono, A. Paolillo, E.Pignat, S.Calinon, "Memory of motion for warm-starting trajectory optimization," IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2594-2601, 2020 (online since 10 February 2020). DOI: 10.1109/LRA.2020.2972893pdfbib

  • M. Ferro, A. Paolillo, A. Cherubini, M. Vendittelli, "Vision-based navigation of omnidirectional mobile robots," IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2691-2698, July 2019 (online since 24 April 2019). DOI: 10.1109/LRA.2019.2913077videopdfbib

  • A. Paolillo, K. Chappellet, A. Bolotnikova, A. Kheddar, "Interlinked visual tracking and robotic manipulation of articulated objects," IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 2746-2753, Oct. 2018 (online since 11 May 2018). DOI: 10.1109/LRA.2018.2835515 videopdfbib

  • A. Paolillo, P. Gergondet, A. Cherubini, M. Vendittelli, A. Kheddar, "Autonomous car driving by a humanoid robot," Journal of Field Robotics, vol. 35, no. 2, pp. 169-186, 2018 (online since 19 June 2017). DOI: 10.1002/rob.21731videopdfbib

  • A. Paolillo, A. Faragasso, G. Oriolo, M. Vendittelli, "Vision-based maze navigation for humanoid robots," Autonomous Robots, vol. 41, no. 2, pp. 293-309, 2017 (online since 27 January 2016). DOI: 10.1007/s10514-015-9533-1 videobib

  • G. Oriolo, A. Paolillo, L. Rosa, M. Vendittelli, "Humanoid odometric localization integrating kinematic, inertial and visual information," Autonomous Robots, vol. 40, no. 5, pp. 867-879, 2016 (online since 22 September 2015). DOI: 10.1007/s10514-015-9498-0bib

Conference papers

  • S. Arreghini, G. Abbate, A. Giusti, A. Paolillo, "Predicting the Intention to Interact with a Service Robot: the Role of Gaze Cues," IEEE International Conference on Robotics and Automation, to appear, 2024. bib

  • S. Arreghini, G. Abbate, A. Giusti, A. Paolillo, "A Long-Range Mutual Gaze Detector for HRI," ACM/IEEE International Conference on Human-Robot Interaction, to appear, 2024. pdfbib

  • R. Felici, M. Saveriano, L. Roveda, A. Paolillo, "Imitation Learning-based Visual Servoing for Tracking Moving Objects," Human-Friendly Robotics. Springer Proceedings in Advanced Robotics, 2023. pdf video

  • A. Paolillo, P. Robuffo Giordano, M. Saveriano, "Dynamical System-based Imitation Learning for Visual Servoing using the Large Projection Formulation," IEEE International Conference on Robotics and Automation, pp. 755-761, 2023. pdf video graphical abstract posterbib

  • A. Paolillo, M. Nava, D. Piga, A. Giusti, "Visual Servoing with Geometrically Interpretable Neural Perception," IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5300-5306, 2022. pdfvideographical abstractbib

  • A. Paolillo, G. Abbate, A. Giusti, S. Trakic, H. Dzafic, A. Fritz, J. Guzzi, "Towards the integration of a pointing-based human-machine interface in an industrial control system compliant with the IEC 61499 standard," Procedia CIRP , 107, 1077-1082, 2022. pdfslidesbib

  • A. Paolillo, M. Saveriano, "Learning Stable Dynamical Systems for Visual Servoing," IEEE International Conference on Robotics and Automation, pp. 8636-8642, 2022. pdfvideoposterbib

  • G. Abbate, A. Giusti, A. Paolillo, L. M. Gambardella, A. E. Rizzoli, J. Guzzi, "Selecting Objects on Conveyor Belts Using Pointing Gestures Sensed by a Wrist-worn Inertial Measurement Unit," IEEE 18th International Conference on Automation Science and Engineering, pp. 633-640, 2022. videobib

  • J. Guzzi, G. Abbate, A. Paolillo, A. Giusti, "Interacting with a Conveyor Belt in Virtual Reality using Pointing Gestures," ACM/IEEE International Conference on Human-Robot Interaction, pp. 1194-1195, 2022. videobib

  • G. Abbate, A. Giusti, A. Paolillo, B. Gromov, L. Gambardella, A. E. Rizzoli, J.Guzzi, "PointIt: A ROS Toolkit for Interacting with Co-located Robots using Pointing Gestures," ACM/IEEE International Conference on Human-Robot Interaction, pp. 608-612, 2022. bib

  • E. Mingo Hoffman, A. Paolillo, "Exploiting visual servoing and centroidal momentum for whole-body motion control of humanoid robots in absence of contacts and gravity," IEEE International Conference on Robotics and Automation, pp. 2979-2985, 2021. pdfvideobib

  • A. Paolillo, T. S. Lembono, S. Calinon, "A memory of motion for visual predictive control tasks," IEEE International Conference on Robotics and Automation, pp. 9014-9020, 2020. pdfbib

  • A. Paolillo, A. Bolotnikova, K. Chappellet, A. Kheddar, "Visual estimation of articulated objects configuration during manipulation with a humanoid," 2017 IEEE/SICE International Symposium on System Integration, pp. 330-335, Dec. 2017. pdfvideobib

  • A. Bolotnikova, K. Chappellet, A. Paolillo, A. Escande, G. Anbarjafari, A. Suarez- Roos, P. Rabaté, A. Kheddar, "A circuit-breaker use-case operated by a humanoid in aircraft manufacturing," 13th IEEE Conference on Automation Science and Engineering, pp. 15-22, Aug. 2017. [best student paper award] pdfbib

  • F. Flacco, A. Paolillo, A. Kheddar, "Residual-based contacts estimation for humanoid robots," IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, pp. 409-415, Nov. 2016. pdfbib

  • M. Ferro, A. Paolillo, A. Cherubini, M. Vendittelli, "Omnidirectional humanoid navigation in cluttered environments based on optical flow information," 2016 IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, pp. 75-80, Nov. 2016. pdfbib

  • A. Paolillo, A. Cherubini, F. Keith, A. Kheddar, and M. Vendittelli, "Toward autonomous car driving by a humanoid robot: A sensor-based framework," 2014 IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, pp. 451-456, Nov. 2014. pdfbib

  • M. Bellacini, L. Lanari, A. Paolillo, and M. Vendittelli, "Manual Guidance of Humanoid Robots without Force Sensors: Preliminary Experiments with NAO," 2014 IEEE International Conference on Robotics and Automation, Hong Kong, China, pp. 1184-1189, 2014. bib

  • G. Oriolo, A. Paolillo, L. Rosa, and M. Vendittelli, "Vision-based trajectory control for humanoid navigation," 2013 IEEE-RAS International Conference on Humanoid Robots, Atlanta, GA, pp. 118-123, 2013. bib

  • A. Faragasso, G. Oriolo, A. Paolillo, and M. Vendittelli, "Vision-based corridor navigation for humanoid robots," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 3190-3195, 2013. bib

  • G. Oriolo, A. Paolillo, L. Rosa, and M. Vendittelli, "Vision-based odometric localization for humanoids using a kinematic EKF," 12th IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, pp. 153-158, 2012. bib

  • D. Dimitrov, A. Paolillo, and P.-B. Wieber, "Walking motion generation with online foot position adaptation based on l1- and linf-norm penalty formulation," 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, pp. 3523-3529, 2011. bib

Workshops

  • G. Abbate, A. Giusti, V. Schmuck, O. Celiktutan and A. Paolillo, "Toward the Detection of the Human Intention to Interact with a Service Robot," in Workshop "SOLAR – Socially-acceptable robots: concepts, techniques, and applications" at IEEE International Conference on Robotics and Automation, 2023. pdf poster

  • G. Abbate, A. Giusti, L. Randazzo, and A. Paolillo, "Rehabilitation of hand motor impairment through combined virtual reality and wearable robotics," in Workshop "Emerging paradigms for assistive robotic manipulation: from research labs to the real world" at IEEE International Conference on Robotics and Automation, 2023. pdf poster

  • M. Saveriano and A. Paolillo, "Towards Combined Action-Perception: Learned Dynamical Systems for Visual Servoing,'' 15th International Workshop on Human-Friendly Robotics, Delft, The Netherlands, 2022.

  • A. Paolillo, F. Flacco, and A. Kheddar, "The residual method for humanoid robots," 9th International Workshop on Human-Friendly Robotics, Genoa, Italy, 2016.

  • M. Bellacini, L. Lanari, A. Paolillo, and M. Vendittelli, "Manual guidance of the humanoid NAO without force measurements," 6th International Workshop on Human-Friendly Robotics , Rome, Italy, 2013.