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2026
A General Concept-based Decomposition for Vision–Language Embeddings
NeurIPS
NeurIPS26Peirone, S., Senouf, O., Pistilli, F., Averta, G., Frossard, P.
Learning to Evolve Scenes: Reasoning about Human Activities with Scene Graphs
NeurIPS
NeurIPS26Pistilli, F., Peirone, S., Averta, G.
GAP: Geometric Anchor Pre-training for Data-Efficient Visuomotor Learning of Manipulation Tasks
IROS
IEEE IROS26Buoso, D., Protopapa, A., Di Carlo, S., Pistilli, F., Averta, G.
GORDON: Graph-based Object-centric Rewards for Decomposition of Long-Horizon Manipulation
(Under Review)Protopapa, A., Buoso, D., Pistilli, F., Chalvatzaki, G., Averta, G.
On the estimation of object inertial parameters through optimal manipulation patterns
T-SMC
IEEE T-SMCMarcello, L., Napolitano, O., Bonifati, P., Averta, G., Bianchi, M., Salaris, P.
Nail It! a learNing framework for Autonomous surgIcaL suturIng and Teleoperation on the dVRK
IJCARSMuratore, L., Pescio, M., Barontini, F., Marzola, F., Leoncini, P., Ammirati, C.A., Arezzo, A., Dagnino, G., Averta, G.
2025
SANSA: Unleashing the Hidden Semantics in SAM2 for Few-Shot Segmentation
NeurIPS
Highlight
NeurIPS25 — Highlight (top 13% accepted, top 3% submitted)Cuttano, C., Trivigno, G., Averta, G., Masone, C.
HiERO: understanding the hierarchy of human behavior enhances reasoning on egocentric videos
ICCV
ICCV25Peirone, S., Pistilli, F., Averta, G.
Your ViT is Secretly an Image Segmentation Model
CVPR
Highlight
CVPR25 — Highlight (top 13.5% accepted, top 2.98% submitted)Kerssies, T., Cavagnero, N., Hermans, A., Norouzi, N., Averta, G., Leibe, B., Dubbelman, G., de Geus, D.
SAMWISE: Infusing wisdom in SAM2 for Text-Driven Video Segmentation
CVPR
Highlight
CVPR25 — Highlight (top 13.5% accepted, top 2.98% submitted)Cuttano, C., Trivigno, G., Rosi, G., Masone, C., Averta, G.
A CNN-ViT hybrid architecture search benchmark on a large-scale dataset
IEEE AccessRobbiano, L., Pistilli, F., Averta, G.
A TaskGraspNet: A Large Scale Benchmark For Task-Oriented Grasping
(Under Review)Robbiano, L., Falco, G.S., Pistilli, F., Averta, G.
RF-DROPO: Data-Efficient Adaptive Domain Randomization for Zero-Shot Sim-to-Real Transfer of Soft Robot Control Policies
(Under Review)Protopapa, A., Tiboni, G., Vandaele, J., Tommasi, T., Camoriano, R., Duriez, C., Averta, G.
Select2Plan: Training-Free ICL-Based Planning through VQA and Memory Retrieval
RA-L
IEEE RA-LBuoso, D., Robinson, L., Averta, G., Torr, P., Franzmeyer, T., De Martini, D.
ERIS: Efficient Referring Image Segmentation via Lightweight Bi-Directional Multi-Modal Alignment
RA-L
IEEE RA-LCuttano, C., Pistilli, F., Cermelli, F., Averta, G.
Domain Generalization using Action Sequences for Egocentric Action Recognition
PRL
Elsevier PRLNasirimajd, A., Plizzari, C., Peirone, S.A., Ciccone, M., Averta, G., Caputo, B.
Reasoning on hierarchical representation of human behavior from Ego-videos
CVPR25 EgoVis WorkshopPeirone, S., Pistilli, F., Averta, G.
Learning reusable concepts across different video understanding tasks
CVPR25 EgoVis WorkshopPeirone, S., Pistilli, F., Alliegro, A., Tommasi, T., Averta, G.
Searching on a Budget: HW-NAS with 10 Latency Probes
arXiv PreprintCapuano, F., Tiboni, G., Cavagnero, N., Averta, G.
FORESCENE: FOREcasting human activity via latent SCENE graphs diffusion
arXiv PreprintAlliegro, A., Pistilli, F., Tommasi, T., Averta, G.
Hier-EgoPack: Hierarchical Egocentric Video Understanding with Diverse Task Perspectives
T-PAMI
IEEE T-PAMIPeirone, S., Pistilli, F., Alliegro, A., Tommasi, T., Averta, G.
Egocentric zone-aware action recognition across environments
PRL
Elsevier PRLPeirone, S., Goletto, G., Planamente, M., Bottino, A., Caputo, B., Averta, G.
2024
AMEGO: Active Memory from long EGOcentric videos
ECCV
ECCV24Goletto, G., Nagarajan, T., Averta, G., Damen, D.
A general approach for generating artificial human-like motions from functional components of human upper limb movements
Control Eng. Pract.
Elsevier Control Eng. PracticeBaracca, M., Averta, G., Bianchi, M.
The revenge of BiSeNet: Efficient Multi-Task Image Segmentation
CVPR24-W (Efficient Deep Learning for Computer Vision)Rosi, G., Cuttano, C., Cavagnero, N., Averta, G., Cermelli, F.
What does CLIP know about peeling a banana?
CVPR24-W (Multimodal Algorithmic Reasoning)Cuttano, C., Rosi, G., Trivigno, G., Averta, G.
A Backpack Full of Skills: Egocentric Video Understanding with Diverse Task Perspectives
CVPR
CVPR24Peirone, S., Pistilli, F., Alliegro, A., Averta, G.
PEM: Prototype-based Efficient MaskFormer for Image Segmentation
CVPR
CVPR24Cavagnero, N., Rosi, G., Cuttano, C., Pistilli, F., Ciccone, M., Averta, G., Cermelli, F.
Improving Deep Neural Network Reliability via Transient-Fault-Aware Design and Training
TETC
IEEE Trans. Emerging Topics in ComputingDos Santos, F., Cavagnero, N., Ciccone, M., Averta, G., Kritikakou, A., Sentieys, O., Rech, P., Tommasi, T.
2023
Entropic Score metric: Decoupling Topology and Size in Training-free NAS
ICCV23-WCavagnero, N., Robbiano, L., Pistilli, F., Caputo, B., Averta, G.
Cross-Domain Transfer Learning with CoRTe: Consistent and Reliable Transfer from Black-Box to Lightweight Segmentation Model
ICCV23-WCuttano, C., Tavera, A., Cermelli, F., Averta, G., Caputo, B.
Domain Randomization for Robust, Affordable and Effective Closed-loop Control of Soft Robots
IROS
IEEE/RSJ IROS23Tiboni, G., Protopapa, A., Tommasi, T., Averta, G.
Graph learning in robotics: a survey
IEEE AccessPistilli, F., Averta, G.
Opportunities for Graph Learning in Robotics
I-RIM 3D23Pistilli, F., Averta, G.
A multi-modal under-sensorized wearable system for optimal kinematic and muscular tracking of human upper limb motion
SensorsBonifati, P., Baracca, M., Menolotto, M., Averta, G., Bianchi, M.
Bringing Online Egocentric Action Recognition into the wild
RA-L
IEEE RA-LGoletto, G., Planamente, M., Caputo, B., Averta, G.
FreeREA: Training-Free Evolution-based Architecture Search
WACV
WACV23Cavagnero, N., Robbiano, L., Caputo, B., Averta, G.
2022
Optimal Reconstruction of Human Motion From Scarce Multimodal Data
T-HMS
IEEE Trans. Human-Machine SystemsAverta, G., Iuculano, M., Salaris, P., Bianchi, M.
Fault-Aware Design and Training to Enhance DNNs Reliability with Zero-Overhead
IEEE IOLTS22Cavagnero, N., Dos Santos, F., Ciccone, M., Averta, G., Tommasi, T., Rech, P.
Estimation of whole-body muscular activation from an optimal set of scarce electromyographic recordings
HFR22Baracca, M., Averta, G., Bianchi, M.
Toward human-robot cooperation: unsupervised domain adaptation for egocentric action recognition
HFR22Planamente, M., Goletto, G., Trivigno, G., Averta, G., Caputo, B.
Online vs. Offline Adaptive Domain Randomization Benchmark
HFR22Tiboni, G., Arndt, K., Averta, G., Kyrki, V., Tommasi, T.
A low-dimensional representation of arm movements and hand grip forces in post-stroke individuals
Scientific Reports
Scientific ReportsKanzler, C.M.*, Averta, G.*, Schwarz, A., Held, J.P.O., Gassert, R., Bicchi, A., Santello, M., Lambercy, O., Bianchi, M.
A deep neural architecture for few-shot learning of novel human-inspired grasp strategies from RGB data
RA-L
IEEE RA-LCollodi, L., Bacciu, D., Bianchi, M., Averta, G.
Human-aware robotics: Modeling human motor skills for the design, planning, and control of a new generation of robotic devices
Monograph — STAR series, SpringerAverta, G.
2021
Understanding human manipulation with the environment: a novel taxonomy for video labelling
RA-L
IEEE RA-LArapi, V., Della Santina, C., Averta, G., Bicchi, A., Bianchi, M.
Optimal electromyographic sensing for whole-body muscular activity estimation
I-RIM 3D22Baracca, M., Averta, G., Bianchi, M.
Toward human-like motion generation in the Cartesian domain with robotic manipulators
I-RIM 3D21Baracca, M., Bonifati, P., Nisticò, Y., Catrambone, V., Valenza, G., Bicchi, A., Averta, G., Bianchi, M.
Human-Robot collaboration (HRC) technologies for reducing Work-related Musculoskeletal Diseases in industry 4.0
IEA21 (21st Triennial Congress)Ranavolo, A., Chini, G., Draicchio, F., Silvetti, A., Varrecchia, T., Fiori, L., Tatarelli, A., Rosen, P.E., Wischniewski, S., Albrecht, P., Vogt, L., Bianchi, M., Averta, G., Cherubini, A., Fritzsche, L., Sartori, M., Vanderborght, B., Govaerts, R., Ajoudani, A.
Learning to prevent grasp failure with soft hands: from on-line prediction to dual-arm grasp recovery
Adv. Intell. Syst.
Wiley Advanced Intelligent SystemsAverta, G., Barontini, F., Valdambrini, I., Cheli, P., Bacciu, D., Bianchi, M.
On the Planning, Control, and Perception of Soft Robotic End-Effectors
Frontiers in Robotics and AIAverta, G., Della Santina, C., Ficuciello, F., Roa, M.A., Bianchi, M.
μ-Limb: A multi-modal, multi-center database on human upper limb motion control in physiological and post-stroke conditions
GigaScience
GigaScienceAverta, G., et al.
Toward brain–heart computer interfaces: a study on the classification of upper limb movements using multisystem directional estimates
J. Neural Eng.
Journal of Neural EngineeringCatrambone, V., Averta, G., Bianchi, M., Valenza, G.
2020
Enhancing Robot Physical Interaction via Optimal Impedance Profiles
IEEE RAS Biorob20Averta, G., Hogan, N.
Functional analysis of upper-limb movements in the Cartesian domain
ICNR20Baracca, M., Bonifati, P., Nisticò, Y., Catrambone, V., Valenza, G., Bicchi, A., Averta, G., Bianchi, M.
A User-Centered Approach to Artificial Sensory Substitution for Blind People Assistance
ICNR20Barontini, F., Bettelani, G.C., Leporini, B., Averta, G., Bianchi, M.
A novel mechatronic system for evaluating elbow muscular spasticity relying on Tonic Stretch Reflex Threshold estimation
IEEE EMBC20Averta, G., Abbinante, M., Orsini, P., Felici, F., Lippi, P., Bicchi, A., Catalano, M.G., Bianchi, M.
Modeling Previous Trial Effect in Human Manipulation Through Iterative Learning Control
Adv. Intell. Syst.
Advanced Intelligent SystemsCenceschi, L.*, Della Santina, C.*, Averta, G., Garabini, M., Fu, Q., Santello, M., Bianchi, M., Bicchi, A.
Design and Validation of the Readable Device: a single-cell Electromagnetic Refreshable Braille Display
IEEE Trans. HapticsBettelani, G.C., Averta, G., Catalano, M.G., Leporini, B., Bianchi, M.
Deep learning techniques for modelling human manipulation and its translation for autonomous robotic grasping with soft end-effectors
"AI for Emerging Verticals: Human-Robot Computing, Sensing and Networking" — IETArapi, V., Zhang, Y., Averta, G., Della Santina, C., Bianchi, M.
Kineto-dynamic modeling of human upper limb for robotic manipulators and assistive applications
"Advances in Motor Neuroprostheses" — Springer SeriesAverta, G., Bettelani, G.C., Della Santina, C., Bianchi, M.
To grasp or not to grasp: an end-to-end deep-learning approach for predicting grasping failures in soft hands
IEEE RoboSoft20Arapi, V., Zhang, Y., Averta, G., Catalano, M.G., Rus, D., Della Santina, C., Bianchi, M.
A technical framework for human-like motion generation with autonomous anthropomorphic redundant manipulators
ICRA
IEEE ICRA20Averta, G., Caporale, D., Della Santina, C., Bicchi, A., Bianchi, M.
Modeling Human Motor Skills to Enhance Robots' Physical Interaction
HFR20Averta, G., Arapi, V., Bicchi, A., Della Santina, C., Bianchi, M.
2019
Exploiting upper-limb functional synergies for human-like motion generation of anthropomorphic robots
JNER
Journal of NeuroEngineering and RehabilitationAverta, G., Della Santina, C., Valenza, G., Bianchi, M., Bicchi, A.
Human-inspired motion primitives for a safe and effective HRI and autonomous manipulation
I-RIM 3D20Averta, G., Bianchi, M.
Embedding human skills in humanoid manipulators
I-RIM 3D19Averta, G., Bicchi, A., Bianchi, M.
Intelligent Machines for Autonomous Robotics and Manipulation: Combining Soft Robotics, Deep Learning and Human Inspiration
I-RIM 3D19Della Santina, C., Averta, G., Arapi, V., Settimi, A., Bacciu, D., Catalano, M.G., Bicchi, A., Bianchi, M.
Human-inspired approaches to simplify robot complexity
Automatica.it19Averta, G., Bicchi, A., Bianchi, M.
Autonomous grasping with softhands: combining human inspiration, deep learning and embodied machine intelligence
Automatica.it19Della Santina, C., Averta, G., Arapi, V., Settimi, A., Bacciu, D., Catalano, M.G., Bicchi, A., Bianchi, M.
A functional analysis-based approach to quantify upper limb impairment level in chronic stroke patients: A pilot study
IEEE EMBC19Schwarz, A., Averta, G., Veerbeek, J.M., Luft, A., Held, J.P., Valenza, G., Bicchi, A., Bianchi, M.
On the time-invariance properties of upper limb synergies
TNSRE
IEEE Trans. Neural Systems and Rehabilitation EngineeringAverta, G., Valenza, G., Catrambone, V., Barontini, F., Scilingo, E.P., Bicchi, A., Bianchi, M.
Learning from humans how to grasp: a data-driven architecture for autonomous grasping with an anthropomorphic soft hand
RA-L
IEEE RA-LDella Santina, C., Arapi, V., Averta, G., Damiani, F., Fiore, G., Settimi, A., Catalano, M.G., Bacciu, D., Bicchi, A., Bianchi, M.
2018
On the Role of Postural Synergies for Grasp Force Generation and Upper Limb Motion Control
ICNR18Averta, G., Angelini, F., Bicchi, A., Valenza, G., Bianchi, M.
A synergistic behavior underpins human hand grasping force control during environmental constraint exploitation
ICNR18Averta, G., Battaglia, E., Della Santina, C., Catalano, M.G., Bianchi, M.
EEG Processing to Discriminate Transitive-Intransitive Motor Imagery Tasks: Preliminary Evidences using Support Vector Machines
IEEE EMBC18Catrambone, V., Greco, A., Averta, G., Bianchi, M., Vanello, N., Bicchi, A., Valenza, G., Scilingo, E.P.
EEG Complexity Maps to Characterize Brain Dynamics during Upper Limb Motor Imagery
IEEE EMBC18Catrambone, V., Greco, A., Averta, G., Bianchi, M., Bicchi, A., Scilingo, E.P., Valenza, G.
Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning
RA-L
IEEE RA-LAverta, G., Angelini, F., Bonilla, M., Bianchi, M., Bicchi, A.
Efficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot with Elastic Joints
RA-L
IEEE RA-LGasparri, G.M., Manara, S., Caporale, D., Averta, G., Bonilla, M., Marino, H., et al., Garabini, M.
Predicting object-mediated gestures from brain activity: an EEG study on gender differences
TNSRE
IEEE Trans. Neural Systems and Rehabilitation EngineeringCatrambone, V., Greco, A., Averta, G., Bianchi, M., Valenza, G., Scilingo, E.P.
2017
From Humans to Robots: the Role of Cutaneous Impairment in Human Environmental Constraint Exploitation to Inform the Design of Robotic Hands
Award
ICUMT17 — Best Student Paper Award, Best Paper in Session RoboticsAverta, G., Della Santina, C., Battaglia, E., Ciotti, S., et al., Bianchi, M.
Postural Hand Synergies during Environmental Constraint Exploitation
Frontiers in neuroroboticsDella Santina, C., Bianchi, M., Averta, G., Ciotti, S., et al., Bicchi, A.
Unvealing the Principal Modes of Human Upper Limb Movements through Functional Analysis
Frontiers in Robotics and AIAverta, G., Della Santina, C., Battaglia, E., Felici, F., Bianchi, M., Bicchi, A.
Touch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond
ICRA
IEEE ICRA17Bianchi, M., Averta, G., Battaglia, E., Rosales, C., et al., Bicchi, A.
Design of an under-actuated wrist based on adaptive synergies
ICRA
IEEE ICRA17Casini, S., Tincani, V., Averta, G., Poggiani, M., Della Santina, C., Battaglia, E., et al., Bicchi, A.