Publications

The recent rise of intelligent transportation systems (ITS) has challenged the integration between different data sources. Reaching the goal of sustainable mobility requires properly managing and merging information coming from the vehicle (intra-) and information coming off the vehicle (inter-). In this paper, we provide a proof-of-concept leveraging on data merging between intra- and inter-networking presenting our framework: Petrol-Filling Itinerary Estimation aNd Optimization (PIENO). PIENO is a system that not only automates the search for the best fuel station but also paves the road to significant reductions in fuel consumption, making eco-driving a practical reality from a user perspective. The PIENO framework is designed to be fuel-type independent, ensuring its adaptability to different vehicles and conditions. It achieves this by merging data from the vehicle through a CAN Access Module (CAM) and data outside the vehicle through a mobile application connected to the internet. Different domains are stressed to reach the goal: microcontroller and OEM to retrieve the fuel level from the car, national authorities to retrieve the daily fuel price, AI models to predict the price trend for the next days, and algorithms to compute the best fuel station and the best time to fill. The modularity of PIENO allows it to adapt to different OEMs by modifying the intra-network interface to properly collect the fuel level, as well as to adapt to different markets and countries, retrieving the station’s locations and fuel prices by modifying the inter-network interface.

This paper presents a novel approach for identifying the dynamic parameters of a 6 DoF serial manipulator characterized by coupling and springs, which is a common mechanics for industrial robots. The proposed method consists of two steps: at first, a static identification process for estimating the masses and centers of gravity (CoGs) of the links is performed; then, a dynamic identification process for determining the inertias, motor inertias, and frictions is executed. In the dynamic identification process, a trajectory is used to generate the required dynamic response of the system, and a regression matrix is employed to combine the identified parameters. Finally, a constrained optimization method is utilized to extract the parameters. The proposed method has been validated through simulations and experiments, showing high accuracy and reliability. This research contributes to the advancement of robot modeling and control, and has potential applications in various industrial fields.

Recent advancements in diffusion models have enabled the generation of realistic deepfakes from textual prompts in natural language. While these models have numerous benefits across various sectors, they have also raised concerns about the potential misuse of fake images and cast new pressures on fake image detection. In this work, we pioneer a systematic study on deepfake detection generated by state-of-the-art diffusion models. Firstly, we conduct a comprehensive analysis of the performance of contrastive and classification-based visual features, respectively, extracted from CLIP-based models and ResNet or Vision Transformer (ViT)-based architectures trained on image classification datasets. Our results demonstrate that fake images share common low-level cues, which render them easily recognizable. Further, we devise a multimodal setting wherein fake images are synthesized by different textual captions, which are used as seeds for a generator. Under this setting, we quantify the performance of fake detection strategies and introduce a contrastive-based disentangling method that lets us analyze the role of the semantics of textual descriptions and low-level perceptual cues. Finally, we release a new dataset, called COCOFake, containing about 1.2 million images generated from the original COCO image–caption pairs using two recent text-to-image diffusion models, namely Stable Diffusion v1.4 and v2.0.

In the last years, the research interest in visual navigation towards objects in indoor environments has grown significantly. This growth can be attributed to the recent availability of large navigation datasets in photo-realistic simulated environments, like Gibson and Matterport3D. However, the navigation tasks supported by these datasets are often restricted to the objects present in the environment at acquisition time. Also, they fail to account for the realistic scenario in which the target object is a user-specific instance that can be easily confused with similar objects and may be found in multiple locations within the environment. To address these limitations, we propose a new task denominated Personalized Instance-based Navigation (PIN), in which an embodied agent is tasked with locating and reaching a specific personal object by distinguishing it among multiple instances of the same category. The task is accompanied by PInNED, a dedicated new dataset composed of photo-realistic scenes augmented with additional 3D objects. In each episode, the target object is presented to the agent using two modalities: a set of visual reference images on a neutral background and manually annotated textual descriptions. Through comprehensive evaluations and analyses, we showcase the challenges of the PIN task as well as the performance and shortcomings of currently available methods designed for object-driven navigation, considering modular and end-to-end agents.

The task of image captioning demands an algorithm to generate natural language descriptions of visual inputs. Recent advancements have seen a convergence between image captioning research and the development of Large Language Models (LLMs) and Multimodal LLMs - like GPT-4V and Gemini - which extend the capabilities of text-only LLMs to multiple modalities. This paper investigates whether Multimodal LLMs can supplant traditional image captioning networks by evaluating their performance on various image description benchmarks. We explore both the zero-shot capabilities of these models and their adaptability to different semantic domains through fine-tuning methods, including prompt learning, prefix tuning, and low-rank adaptation. Our results demonstrate that while Multimodal LLMs achieve impressive zero-shot performance, fine-tuning for specific domains while maintaining their generalization capabilities intact remains challenging. We discuss the implications of these findings for future research in image captioning and the development of more adaptable Multimodal LLMs.

Gene fusions are common in high-grade serous ovarian cancer (HGSC). Such genetic lesions may promote tumorigenesis, but the pathogenic mechanisms are currently poorly understood. Here, we investigated the role of a PIK3R1-CCDC178 fusion identified from a patient with advanced HGSC. We show that the fusion induces HGSC cell migration by regulating ERK1/2 and increases resistance to platinum treatment. Platinum resistance was associated with rod and ring-like cellular structure formation. These structures contained, in addition to the fusion protein, CIN85, a key regulator of PI3K-AKT-mTOR signaling. Our data suggest that the fusion-driven structure formation induces a previously unrecognized cell survival and resistance mechanism, which depends on ERK1/2-activation.

The conventional training approach for image captioning involves pre-training a network using teacher forcing and subsequent fine-tuning with Self-Critical Sequence Training to maximize hand-crafted captioning metrics. However, when attempting to optimize modern and higher-quality metrics like CLIP-Score and PAC-Score, this training method often encounters instability and fails to acquire the genuine descriptive capabilities needed to produce fluent and informative captions. In this paper, we propose a new training paradigm termed Direct CLIP-Based Optimization (DiCO). Our approach jointly learns and optimizes a reward model that is distilled from a learnable captioning evaluator with high human correlation. This is done by solving a weighted classification problem directly inside the captioner. At the same time, DiCO prevents divergence from the original model, ensuring that fluency is maintained. DiCO not only exhibits improved stability and enhanced quality in the generated captions but also aligns more closely with human preferences compared to existing methods, especially in modern metrics. Additionally, it maintains competitive performance in traditional metrics.