📚 Publications

A Continual Learning Framework for Adaptive Control of Modular Soft Robots

N. Kushawaha, M. S. Nazeer, B. S. Bal, C. Laschi, E. Falotico

Continual Learning for Multimodal Data Fusion of a Soft Gripper

N. Kushawaha, E. Falotico

We developed a continual learning framework for multimodal semi-supervised learning, allowing new sensing modalities to be integrated incrementally without retraining from scratch. We demonstrated the approach on a soft pneumatic gripper equipped with force, bend, and vision sensors, synchronized through ROS.

Domain Translation of a Soft Robotic Arm using Conditional Cycle Generative Adversarial Network

N. Kushawaha, C. Alessi, L. Fruzetti, E. Falotico

We developed a control algorithm based on a conditional cycle generative adversarial network to transfer a pose controller from a standard simulation environment to a domain with tenfold higher viscosity. The approach was evaluated in simulation on the I-Support soft robotic arm for trajectory tracking tasks.

Semantization of memories in a hippocampal–cortical spiking neural network

F. D'Alba, N. Kushawaha, L. Fruzzetti, P. S. Paolucci, E. Falotico

Adaptive Drift Compensation for Soft Sensorized Finger Using Continual Learning

N. Kushawaha, R. Pathan, N. Pagliarani, M. Cianchetti, E. Falotico

We developed an adaptive continual learning algorithm to model the drift present in a soft finger with an embedded piezoelectric sensor used for proprioception. The algorithm jointly models the sensor's inherent drift and the non-linearity of the soft structure, online.

SynapNet: A Complementary Learning System Inspired Algorithm With Real-Time Application in Multimodal Perception

N. Kushawaha, L. Fruzzetti, E. Donato, E. Falotico

We developed an algorithm inspired by CLS theory, combining a fast learner with a slow consolidator, enhanced by a VAE-based pseudo-episodic memory. The approach integrates lateral inhibition to suppress redundant neuronal activity and employs a sleep phase to reorganize learned representations. We demonstrated its effectiveness in real-time object classification using proprioceptive signals from a soft sensorized gripper operating in a dynamic environment with an unknown number of classes.

Separation of electrons from pions in GEM TRD using deep learning

N. Kushawaha, Y. Furletova, A. Roy, D. Romanov

ATHENA detector proposal — a totally hermetic electron nucleus apparatus proposed for IP6 at the Electron-Ion Collider

ATHENA Collaboration (incl. N. Kushawaha)

A study of Artificial Neural Network and its implementation from scratch

N. Kushawaha, A. Roy