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Antonio Sgorbissa

Publications and source records attributed to Antonio Sgorbissa.

At least 19 recordsLinked to original sources

SICAGE: Speaker-Independent Culture-Aware Gesture Generation using TED4C-L Dataset

Recent co-speech gesture generation methods often overlook cultural differences, limiting their effectiveness in human-agent interaction. Moreover, culture-conditioned models are rarely evaluated under speaker-disjoint splits, so apparent "cultural" behavior may be confounded with speaker-specific gesturing style. We introduce SICAGE, a modular framework for culture-aware co-speech gesture generation that conditions motion synthesis models on speaker-independent cultural representations. SICAGE learns these representations from audio and text by treating each speaker as a separate domain while imposing invariance across speakers. This encourages representations to remain culture-discriminative while reducing dependence on speaker identity. The resulting cultural embeddings condition a multimodal generator to produce culturally appropriate gestures. We instantiate this idea with two domain generalization approaches: adversarial learning and Fishr regularization. We further introduce ALaDiT, a real-time diffusion-based gesture generator designed to efficiently incorporate the learned cultural embeddings. To validate our method, we built TED4C-L, a 106-hour multimodal dataset of 764 TED speakers from four cultural groups. Experiments show that SICAGE improves motion realism, diversity, beat synchronization, semantic relevance, and cultural consistency.

cs.CV

HORUS: A Mixed Reality Interface for Managing Teams of Mobile Robots

Mixed Reality (MR) interfaces have been extensively explored for controlling mobile robots, but there is limited research on their application to managing teams of robots. This paper presents HORUS: Holistic Operational Reality for Unified Systems, a Mixed Reality interface offering a comprehensive set of tools for managing multiple mobile robots simultaneously. HORUS enables operators to monitor individual robot statuses, visualize sensor data projected in real time, and assign tasks to single robots, subsets of the team, or the entire group, all from a Mini-Map (Ground Station). The interface also provides different teleoperation modes: a mini-map mode that allows teleoperation while observing the robot model and its transform on the mini-map, and a semi-immersive mode that offers a flat, screen-like view in either single or stereo view (3D). We conducted a user study in which participants used HORUS to manage a team of mobile robots tasked with finding clues in an environment, simulating search and rescue tasks. This study compared HORUS's full-team management capabilities with individual robot teleoperation. The experiments validated the versatility and effectiveness of HORUS in multi-robot coordination, demonstrating its potential to advance human-robot collaboration in dynamic, team-based environments.

cs.RO

A Multi-Operator Mixed-Reality Interface for Multi-Robot Control and Coordination: Co-Located and Private Workspace Collaboration

Multi-operator control of robot teams requires not only access to the same mission information, but also mechanisms for maintaining shared awareness and preventing conflicting interventions. Building on our previous HORUS interface (Holistic Operational Reality for Unified Systems) we present a mixed-reality interface that extends single-operator multi-robot supervision to collaborative multi-operator use. The system supports two complementary modes: a co-located shared workspace, in which operators observe and manipulate the same mini-map in the same physical location, and a private-workspace mode, in which operators work on the same mission through independently placed local workspaces. The architecture combines registration-driven scene construction, lightweight shared-session synchronization, and per-robot control leases to support collaborative monitoring, tasking, and teleoperation while preventing conflicting commands. We evaluated the approach in a human-subject study with 36 participants (18 pairs) controlling three Nova Carter mobile robots in two search environments. The performance of the objective task was comparable across the two modes, indicating that both modes supported effective mission execution. However, the co-located shared workspace significantly improved perceived collaboration, shared understanding, and handoff clarity, and was the preferred collaborative mode. These results indicate that physically co-locating the MR workspace improves how operators coordinate even when the underlying robot-control tools remain unchanged.

cs.RO

BPDA-GMM: Bayesian Probabilistic Data Association via Gaussian Mixture Models for Semantic SLAM

Probabilistic data association (PDA) improves semantic SLAM in perceptually aliased scenes, but existing methods often assume a fixed landmark set, recompute association weights as the map grows, or rely on hand-tuned null-hypothesis weights. To address these limitations, we propose \textbf{BPDA-GMM}, an online Bayesian PDA framework for semantic SLAM with a growing object-level map. BPDA-GMM uses a Dirichlet-process prior to induce a Chinese Restaurant Process (CRP) association model, where accumulated evidence favors existing landmarks, and the concentration parameter assigns probability mass to new landmarks. For each semantic detection, plausible candidates are selected by a joint semantic-geometric gate, CRP-weighted association probabilities are computed, and object landmarks are updated as semantic Gaussians in closed form. The resulting landmark set forms a Gaussian mixture model, and its dominant component is passed to the back-end as a max-mixture semantic factor. When association weights are inconclusive, an ambiguity-triggered $α$-divergence tempering step improves discrimination. Finally, a decoupled back-end zeroes the pose Jacobian of semantic factors, allowing noisy detections to refine landmarks without directly perturbing the trajectory. Experiments in simulation and on a real indoor dataset demonstrate improved trajectory accuracy, semantic mapping quality, and robustness to perceptual aliasing and classifier errors over state-of-the-art baselines. Code and video are publicly available at https://github.com/thanhnguyencanh/BPDA-SLAM.

cs.RO

Enhancing Worker Safety in Harbors Using Quadruped Robots

Infrastructure inspection is becoming increasingly relevant in the field of robotics due to its significant impact on ensuring workers' safety. The harbor environment presents various challenges in designing a robotic solution for inspection, given the complexity of daily operations. This work introduces an initial phase to identify critical areas within the port environment. Following this, a preliminary solution using a quadruped robot for inspecting these critical areas is analyzed.

cs.RO

Designing Empathetic Companions: Exploring Personality, Emotion, and Trust in Social Robots

How should a companion robot behave? In this research, we present a cognitive architecture based on a tailored personality model to investigate the impact of robotic personalities on the perception of companion robots. Drawing from existing literature, we identified empathy, trust, and enjoyability as key factors in building companionship with social robots. Based on these insights, we implemented a personality-dependent, emotion-aware generator, recognizing the crucial role of robot emotions in shaping these elements. We then conducted a user study involving 84 dyadic conversation sessions with the emotional robot Navel, which exhibited different personalities. Results were derived from a multimodal analysis, including questionnaires, open-ended responses, and behavioral observations. This approach allowed us to validate the developed emotion generator and explore the relationship between the personality traits of Agreeableness, Extraversion, Conscientiousness, and Empathy. Furthermore, we drew robust conclusions on how these traits influence relational trust, capability trust, enjoyability, and sociability.

cs.HC

Toward a Universal Concept of Artificial Personality: Implementing Robotic Personality in a Kinova Arm

The fundamental role of personality in shaping interactions is increasingly being exploited in robotics. A carefully designed robotic personality has been shown to improve several key aspects of Human-Robot Interaction (HRI). However, the fragmentation and rigidity of existing approaches reveal even greater challenges when applied to non-humanoid robots. On one hand, the state of the art is very dispersed; on the other hand, Industry 4.0 is moving towards a future where humans and industrial robots are going to coexist. In this context, the proper design of a robotic personality can lead to more successful interactions. This research takes a first step in that direction by integrating a comprehensive cognitive architecture built upon the definition of robotic personality - validated on humanoid robots - into a robotic Kinova Jaco2 arm. The robot personality is defined through the cognitive architecture as a vector in the three-dimensional space encompassing Conscientiousness, Extroversion, and Agreeableness, affecting how actions are executed, the action selection process, and the internal reaction to environmental stimuli. Our main objective is to determine whether users perceive distinct personalities in the robot, regardless of its shape, and to understand the role language plays in shaping these perceptions. To achieve this, we conducted a user study comprising 144 sessions of a collaborative game between a Kinova Jaco2 arm and participants, where the robot's behavior was influenced by its assigned personality. Furthermore, we compared two conditions: in the first, the robot communicated solely through gestures and action choices, while in the second, it also utilized verbal interaction.

cs.RO

Moderating Group Conversation Dynamics with Social Robots

This research investigates the impact of social robot participation in group conversations and assesses the effectiveness of various addressing policies. The study involved 300 participants, divided into groups of four, interacting with a humanoid robot serving as the moderator. The robot utilized conversation data to determine the most appropriate speaker to address. The findings indicate that the robot's addressing policy significantly influenced conversation dynamics, resulting in more balanced attention to each participant and a reduction in subgroup formation.

cs.RO

Improving the ROS 2 Navigation Stack with Real-Time Local Costmap Updates for Agricultural Applications

The ROS 2 Navigation Stack (Nav2) has emerged as a widely used software component providing the underlying basis to develop a variety of high-level functionalities. However, when used in outdoor environments such as orchards and vineyards, its functionality is notably limited by the presence of obstacles and/or situations not commonly found in indoor settings. One such example is given by tall grass and weeds that can be safely traversed by a robot, but that can be perceived as obstacles by LiDAR sensors, and then force the robot to take longer paths to avoid them, or abort navigation altogether. To overcome these limitations, domain specific extensions must be developed and integrated into the software pipeline. This paper presents a new, lightweight approach to address this challenge and improve outdoor robot navigation. Leveraging the multi-scale nature of the costmaps supporting Nav2, we developed a system that using a depth camera performs pixel level classification on the images, and in real time injects corrections into the local cost map, thus enabling the robot to traverse areas that would otherwise be avoided by the Nav2. Our approach has been implemented and validated on a Clearpath Husky and we demonstrate that with this extension the robot is able to perform navigation tasks that would be otherwise not practical with the standard components.

cs.RO

Efficient Frontier Management for Collaborative Active SLAM

In autonomous robotics, a critical challenge lies in developing robust solutions for Active Collaborative SLAM, wherein multiple robots collaboratively explore and map an unknown environment while intelligently coordinating their movements and sensor data acquisitions. In this article, we present an efficient centralized frontier sharing approach that maximizes exploration by taking into account information gain in the merged map, distance, and reward computation among frontier candidates and encourages the spread of agents into the environment. Eventually, our method efficiently spreads the robots for maximum exploration while keeping SLAM uncertainty low. Additionally, we also present two coordination approaches, synchronous and asynchronous to prioritize robot goal assignments by the central server. The proposed method is implemented in ROS and evaluated through simulation and experiments on publicly available datasets and similar methods, rendering promising results.

cs.RO

Labeling Sentences with Symbolic and Deictic Gestures via Semantic Similarity

Co-speech gesture generation on artificial agents has gained attention recently, mainly when it is based on data-driven models. However, end-to-end methods often fail to generate co-speech gestures related to semantics with specific forms, i.e., Symbolic and Deictic gestures. In this work, we identify which words in a sentence are contextually related to Symbolic and Deictic gestures. Firstly, we appropriately chose 12 gestures recognized by people from the Italian culture, which different humanoid robots can reproduce. Then, we implemented two rule-based algorithms to label sentences with Symbolic and Deictic gestures. The rules depend on the semantic similarity scores computed with the RoBerta model between sentences that heuristically represent gestures and sub-sentences inside an objective sentence that artificial agents have to pronounce. We also implemented a baseline algorithm that assigns gestures without computing similarity scores. Finally, to validate the results, we asked 30 persons to label a set of sentences with Deictic and Symbolic gestures through a Graphical User Interface (GUI), and we compared the labels with the ones produced by our algorithms. For this scope, we computed Average Precision (AP) and Intersection Over Union (IOU) scores, and we evaluated the Average Computational Time (ACT). Our results show that semantic similarity scores are useful for finding Symbolic and Deictic gestures in utterances.

cs.RO

Enhancing LLM-Based Human-Robot Interaction with Nuances for Diversity Awareness

This paper presents a system for diversity-aware autonomous conversation leveraging the capabilities of large language models (LLMs). The system adapts to diverse populations and individuals, considering factors like background, personality, age, gender, and culture. The conversation flow is guided by the structure of the system's pre-established knowledge base, while LLMs are tasked with various functions, including generating diversity-aware sentences. Achieving diversity-awareness involves providing carefully crafted prompts to the models, incorporating comprehensive information about users, conversation history, contextual details, and specific guidelines. To assess the system's performance, we conducted both controlled and real-world experiments, measuring a wide range of performance indicators.

cs.RO

Exploring the ethical sensitivity of Ph.D. students in robotics

Ethical sensitivity, generally defined as a person's ability to recognize ethical issues and attribute importance to them, is considered to be a crucial competency in the life of professionals and academics and an essential prerequisite to successfully meeting ethical challenges. A concept that first emerged in moral psychology almost 40 years ago, ethical sensitivity has been widely studied in healthcare, business, and other domains. Conversely, it appears to have received little to no attention within the robotics community, even though choices in the design and deployment of robots are likely to have wide-ranging, profound ethical impacts on society. Due to the negative repercussions that a lack of ethical sensitivity can have in these contexts, promoting the development of ethical sensitivity among roboticists is imperative, and endeavoring to train this competency becomes a critical undertaking. Therefore, as a first step in this direction and within the context of a broader effort aimed at developing an online interactive ethics training module for roboticists, we conducted a qualitative exploration of the ethical sensitivity of a sample of Ph.D. students in robotics using case vignettes that exemplified ethical tensions in disaster robotics.

cs.CY

Culture-to-Culture Image Translation and User Evaluation

The article introduces the concept of image "culturization," which we define as the process of altering the ``brushstroke of cultural features" that make objects perceived as belonging to a given culture while preserving their functionalities. First, we defined a pipeline for translating objects' images from a source to a target cultural domain based on state-of-the-art Generative Adversarial Networks. Then, we gathered data through an online questionnaire to test four hypotheses concerning the impact of images belonging to different cultural domains on Italian participants. As expected, results depend on individual tastes and preferences: however, they align with our conjecture that some people, during the interaction with an intelligent system, will prefer to be shown images modified to match their cultural background. The study has two main limitations. First, we focussed on the culturization of individual objects instead of complete scenes. However, objects play a crucial role in conveying cultural meanings and can strongly influence how an image is perceived within a specific cultural context. Understanding and addressing object-level translation is a vital step toward achieving more comprehensive scene-level translation in future research. Second, we performed experiments with Italian participants only. We think that there are unique aspects of Italian culture that make it an interesting and relevant case study for exploring the impact of image culturization. Italy is a very culturally conservative society, and Italians have specific sensitivities and expectations regarding the accurate representation of their cultural identity and traditions, which can shape individuals' preferences and inclinations toward certain visual styles, aesthetics, and design choices. As a consequence, we think they are an ideal candidate for a preliminary investigation of image culturization.

cs.CV

Sustainable Cloud Services for Verbal Interaction with Embodied Agents

This article presents the design and the implementation of a cloud system for knowledge-based autonomous interaction devised for Social Robots and other conversational agents. The system is particularly convenient for low-cost robots and devices: it can be used as a stand-alone dialogue system or as an integration to provide "background" dialogue capabilities to any preexisting Natural Language Processing ability that the robot may already have as part of its basic skills. By connecting to the cloud, developers are provided with a sustainable solution to manage verbal interaction through a network connection, with about 3,000 topics of conversation ready for "chit-chatting" and a library of pre-cooked plans that only needs to be grounded into the robot's physical capabilities. The system is structured as a set of REST API endpoints so that it can be easily expanded by adding new APIs to improve the capabilities of the clients connected to the cloud. Another key feature of the system is that it has been designed to make the development of its clients straightforward: in this way, multiple robots and devices can be easily endowed with the capability of autonomously interacting with the user, understanding when to perform specific actions, and exploiting all the information provided by cloud services. The article outlines and discusses the results of the experiments performed to assess the system's performance in terms of response time, paving the way for its use both for research and market solutions. Links to repositories with clients for ROS and popular robots such as Pepper and NAO are available on request.

cs.RO

Thermal and Visual Tracking of Photovoltaic Plants for Autonomous UAV inspection

Since photovoltaic (PV) plants require periodic maintenance, using Unmanned Aerial Vehicles (UAV) for inspections can help reduce costs. The thermal and visual inspection of PV installations is currently based on UAV photogrammetry. A UAV equipped with a Global Positioning System (GPS) receiver is assigned a flight zone: the UAV will cover it back and forth to collect images to be later composed in an orthomosaic. The UAV typically flies at a height above the ground that is appropriate to ensure that images overlap even in the presence of GPS positioning errors. However, this approach has two limitations. Firstly, it requires to cover the whole flight zone, including "empty" areas between PV module rows. Secondly, flying high above the ground limits the resolution of the images to be later inspected. The article proposes a novel approach using an autonomous UAV equipped with an RGB and a thermal camera for PV module tracking. The UAV moves along PV module rows at a lower height than usual and inspects them back and forth in a boustrophedon way by ignoring "empty" areas with no PV modules. Experimental tests performed in simulation and an actual PV plant are reported.

cs.RO

Diversity-aware social robots meet people: beyond context-aware embodied AI

The article introduces the concept of "diversity-aware" robotics and discusses the need to develop computational models to embed robots with diversity-awareness: that is, robots capable of adapting and re-configuring their behavior to recognize, respect, and value the uniqueness of the person they interact with to promote inclusion regardless of their age, race, gender, cognitive or physical capabilities, etc. Finally, the article discusses possible technical solutions based on Ontologies and Bayesian Networks, starting from previous experience with culturally competent robots.

cs.RO

Knowledge-Grounded Dialogue Flow Management for Social Robots and Conversational Agents

The article proposes a system for knowledge-based conversation designed for Social Robots and other conversational agents. The proposed system relies on an Ontology for the description of all concepts that may be relevant conversation topics, as well as their mutual relationships. The article focuses on the algorithm for Dialogue Management that selects the most appropriate conversation topic depending on the user's input. Moreover, it discusses strategies to ensure a conversation flow that captures, as more coherently as possible, the user's intention to drive the conversation in specific directions while avoiding purely reactive responses to what the user says. To measure the quality of the conversation, the article reports the tests performed with 100 recruited participants, comparing five conversational agents: (i) an agent addressing dialogue flow management based only on the detection of keywords in the speech, (ii) an agent based both on the detection of keywords and the Content Classification feature of Google Cloud Natural Language, (iii) an agent that picks conversation topics randomly, (iv) a human pretending to be a chatbot, and (v) one of the most famous chatbots worldwide: Replika. The subjective perception of the participants is measured both with the SASSI (Subjective Assessment of Speech System Interfaces) tool, as well as with a custom survey for measuring the subjective perception of coherence.

cs.RO