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Author

F. Angelini

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Open access Aug 2026

Contact-Guided Exploration for Non-Prehensile Locomanipulation With Multi-Critic RL

This work proposes a contact-guided exploration strategy implemented within a Multi-Critic Reinforcement Learning (RL) framework, and obtains candidate interaction points from a general-purpose grasping algorithm, enabling the exploration mechanism to generalise across various object geometries.

Simone Tolomei, Mayank Mittal, F. Angelini et al. · 0 citations
Open access Oct 2026

Physics-Informed Neural Networks for Estimating the Cable Dynamics via Cartesian Measurements

Aerial robots equipped with cables used as soft end-effectors represent a new, versatile robotic paradigm to solve multiple tasks. However, to fully exploit the versatility of soft robots, the modeling problem must be addressed. The main challenges depend on the hard-to-model continuum dynamics. To solve this challenge...

M. Pierallini, Yao-Lei Shen, Y. de Santis et al. · 0 citations

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