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Constrained Reinforcement Learning and Formal Verification for Safe Colonoscopy Navigation


Mar 06, 2023
Davide Corsi, Luca Marzari, Ameya Pore, Alessandro Farinelli, Alicia Casals, Paolo Fiorini, Diego Dall'Alba

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* Corsi, Marzari and Pore contributed equally 

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Generalization of Auto-Regressive Hidden Markov Models to Non-Linear Dynamics and Non-Euclidean Observation Space


Feb 23, 2023
Michele Ginesi, Paolo Fiorini

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Weakly Supervised Temporal Convolutional Networks for Fine-grained Surgical Activity Recognition


Feb 21, 2023
Sanat Ramesh, Diego Dall'Alba, Cristians Gonzalez, Tong Yu, Pietro Mascagni, Didier Mutter, Jacques Marescaux, Paolo Fiorini, Nicolas Padoy

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Logic programming for deliberative robotic task planning


Jan 18, 2023
Daniele Meli, Hirenkumar Nakawala, Paolo Fiorini

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* The version of record of this article, first published in Artif Intell Rev (2023), is available online at Publisher website 

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CIPCaD-Bench: Continuous Industrial Process datasets for benchmarking Causal Discovery methods


Aug 02, 2022
Giovanni Menegozzo, Diego Dall'Alba, Paolo Fiorini

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* Supplementary Materials at: https://github.com/giovanniMen/CPCaD-Bench 

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Colonoscopy Navigation using End-to-End Deep Visuomotor Control: A User Study


Jun 30, 2022
Ameya Pore, Martina Finocchiaro, Diego Dall'Alba, Albert Hernansanz, Gastone Ciuti, Alberto Arezzo, Arianna Menciassi, Alicia Casals, Paolo Fiorini

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* Accepted in IROS2022 

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Deliberation in autonomous robotic surgery: a framework for handling anatomical uncertainty


Mar 10, 2022
Eleonora Tagliabue, Daniele Meli, Diego Dall'Alba, Paolo Fiorini

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* 2022 International Conference on Robotics and Automation 

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Data Stream Stabilization for Optical Coherence Tomography Volumetric Scanning


Dec 02, 2021
Guiqiu Liao, Oscar Caravaca-Mora, Benoit Rosa, Philippe Zanne, Alexandre Asch, Diego Dall Alba, Paolo Fiorini, Michel de Mathelin, Florent Nageotte, Michalina J. Gora

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* IEEE TMRB, 2021 
* 11pages, 5 figures 

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Learning from Demonstrations for Autonomous Soft-tissue Retraction


Oct 01, 2021
Ameya Pore, Eleonora Tagliabue, Marco Piccinelli, Diego Dall'Alba, Alicia Casals, Paolo Fiorini

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* Accepted in IEEE International Symposium of Medical Robotics (ISMR 2021) 

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Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery


Sep 06, 2021
Ameya Pore, Davide Corsi, Enrico Marchesini, Diego Dall'Alba, Alicia Casals, Alessandro Farinelli, Paolo Fiorini

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* 7 pages, 6 figures 

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