arXiv subjects

Massimo Regoli

Publications and source records attributed to Massimo Regoli.

5 recordsLinked to original sources

arXiv2017

Controlled Tactile Exploration and Haptic Object Recognition

In this paper we propose a novel method for in-hand object recognition. The method is composed of a grasp stabilization controller and two exploratory behaviours to capture the shape and the softness of an object. Grasp stabilization plays an important role in recognizing objects. First, it prevents the object from slipping and facilitates the exploration of the object. Second, reaching a stable and repeatable position adds robustness to the learning algorithm and increases invariance with respect to the way in which the robot grasps the object. The stable poses are estimated using a Gaussian mixture model (GMM). We present experimental results showing that using our method the classifier can successfully distinguish 30 objects.We also compare our method with a benchmark experiment, in which the grasp stabilization is disabled. We show, with statistical significance, that our method outperforms the benchmark method.

cs.RO↗

arXiv2001

On the physical meaning of the EPR--chameleon experiment

The physical meaning of the EPR--chameleon experiment proposed in AcRe00b,AcRe01a, in which the EPR correlations are reproduced by local, independent, deterministic choices is re-examined. In addition we extend the mathematical model of AcRe00b,AcRe01a by showing that the dynamics considered there is effectively the reduced dynamics of a fully reversible evolution. We also propose a new protocol, more directly corresponding to real experiments, in which the local computers only send back to the central one the results of the evaluation of $\pm1$--valued functions. The program to run the experiment is available from the WEB-page: http://volterra.mat.uniroma2.it.

quant-ph↗

arXiv2001

The EPR correlations and the chameleon effect

We describe an experiment in which two non communicating computers, starting from a common input in the form of sequences of pseudo--random numbers in the interval $[0,2π]$, and computing deterministic $\{\pm 1\}$--valued functions, chosen at random and independently, produce sequences of numbers whose correlations coincide with the EPR correlations and therefore violate Bell's inequality. The experiment is the practical implementation of a mathematical model of a classical, deterministic system whose initial state is chosen at random from its state space, with a known initial probability distribution, and whose dynamics exhibits the chameleon effect described below. Such a system satisfies the constraints of pre--determination, locality, causality, local independent choices, singlet law and reproduces the EPR correlations.

quant-ph↗

arXiv2000

Non-locality and quantum theory: new experimental evidence

Starting from the late 60's many experiments have been performed to verify the violation Bell's inequality by Einstein-Podolsky-Rosen (EPR) type correlations. The idea of these experiments being that: (i) Bell's inequality is a consequence of locality, hence its experimental violation is an indication of non locality; (ii) this violation is a typical quantum phenomenon because any classical system making local choices (either deterministic or random) will produce correlations satisfying this inequality. Both statements (i) and (ii) have been criticized by quantum probability on theoretical grounds (not discussed in the present paper) and the experiment discussed below has been devised to support these theoretical arguments. We emphasize that the goal of our experiment is not to reproduce classically the EPR correlations but to prove that there exist perfectly local classical dynamical systems violating Bell's inequality.

quant-ph↗

arXiv2000

Locality and Bell's inequality

We prove that the locality condition is irrelevant to Bell in equality. We check that the real origin of the Bell's inequality is the assumption of applicability of classical (Kolmogorovian) probability theory to quantum mechanics. We describe the chameleon effect which allows to construct an experiment realizing a local, realistic, classical, deterministic and macroscopic violation of the Bell inequalities.

quant-ph↗