Author

Alessandro Farinelli

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Oct 2026

Transformer-Enhanced Adaptive NMPC for Underactuated Autonomous Surface Vehicles

The increasing demand for autonomous vehicles operating in dynamic and uncertain environments highlights the need for robust control strategies that can model and anticipate external disturbances. This paper presents a comprehensive pipeline for six-degree-of-freedom disturbance forecasting and adaptive nonlinear model...

Francesco Dal Santo, Francesco Trotti, Alessandro Farinelli · IEEE Robotics and Automation... · 0 citations

Jul 2026

Explaining Reinforcement Learning Agents via Inductive Logic Programming

This work employs Inductive Logic Programming (ILP) to extract symbolic representations of RL policies and define a novel set of explainability metrics, including activation rate, feature coverage, syntactic distance and semantic distance, which provide crucial insights for the transfer and generalization of action-spe...

Celeste Veronese, Edoardo Zorzi, Daniele Meli et al. · arXiv.org · 0 citations

Conference Open access Jul 2026

Symbolic Knowledge Transfer for Sample-Efficient Deep Reinforcement Learning

This work proposes a neuro-symbolic DRL approach that incorporates background symbolic knowledge to improve both sample efficiency and generalization to more challenging, unseen tasks and demonstrates consistent performance improvements over a state-of-the-art reward machine baseline.

Celeste Veronese, Alessandro Farinelli, Daniele Meli · Proceedings of the TwentyThi... · 0 citations