Author

Francesca Pistilli

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Preprint Aug 2026

GORDON: Graph-based Object-centric Rewards for Decomposition of Long-Horizon Manipulation

This work proposes GORDON, a graph-based object-centric reward learning framework that learns dense rewards from action-free video demonstrations that improves reinforcement learning in short-horizon settings and enables successful policy learning in complex long-horizon tasks through automatic decomposition.

Andrea Protopapa, Davide Buoso, Francesca Pistilli et al. · 0 citations

Preprint Jul 2026

Learning to Evolve Scenes: Reasoning about Human Activities with Scene Graphs

SG-Ego, a large scale annotation set extending Ego4D with spatio-temporal scene graphs, where relations triplets are consolidated over time into explicit time-evolving descriptions of the scene state is introduced, and GLEN, a graph-based model that operates over scene graph sequences to both align them with textual ac...

Francesca Pistilli, Simone Alberto Peirone, Giuseppe Averta · 0 citations