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Matteo Bianchi

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Published work

12 published item(s)

preprint2026arXiv

A Framework for Evaluating Zero-Shot Image Generation in Concept-based Explainability

Concept-based Explainable Artificial Intelligence (XAI) interprets deep learning models using human-understandable visual features (e.g., textures or object parts) by linking internal representations to class predictions, thereby bridging the gap between low-level image data and high-level semantics. A major challenge, however, is the reliance on large sets of labeled images to represent each concept, which limits scalability. In this work, we investigate the use of zero-shot Text-to-Image (T2I) generative models as a source of synthetic concept datasets for concept-based XAI methods. Specifically, we generate concepts using predefined prompts and evaluate their faithfulness to real ones through four complementary analyses: (1) comparing synthetic vs. real concept images via concept representation similarity; (2) evaluating their intra-similarity by comparing pairs of subsets of the same concept with progressively increasing size; (3) evaluating their performance for downstream explanation tasks using relevant class images; (4) evaluating how removing a concept from tested class images affects explanations of generated concepts. While current T2I generative models promise a shortcut to concept-based XAI, our study highlights challenges and raises open questions about the use of synthetic data generated by zero-shot pipelines in model analyses. The resulting dataset is available at https://github.com/DataSciencePolimi/ZeroShot-T2I-Concepts.

preprint2022arXiv

Performance Analysis of Vibrotactile and Slide-and-Squeeze Haptic Feedback Devices for Limbs Postural Adjustment

Recurrent or sustained awkward body postures are among the most frequently cited risk factors to the development of work-related musculoskeletal disorders (MSDs). To prevent workers from adopting harmful configurations but also to guide them toward more ergonomic ones, wearable haptic devices may be the ideal solution. In this paper, a vibrotactile unit, called ErgoTac, and a slide-and-squeeze unit, called CUFF, were evaluated in a limbs postural correction setting. Their capability of providing single-joint (shoulder or knee) and multi-joint (shoulder and knee at once) guidance was compared in twelve healthy subjects, using quantitative task-related metrics and subjective quantitative evaluation. An integrated environment was also built to ease communication and data sharing between the involved sensor and feedback systems. Results show good acceptability and intuitiveness for both devices. ErgoTac appeared as the suitable feedback device for the shoulder, while the CUFF may be the effective solution for the knee. This comparative study, although preliminary, was propaedeutic to the potential integration of the two devices for effective whole-body postural corrections, with the aim to develop a feedback and assistive apparatus to increase workers' awareness about risky working conditions and therefore to prevent MSDs.

preprint2021arXiv

Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands

In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic optical tactile sensor based on the human sense of touch. Our focus is how a sense of touch can be used to control an anthropomorphic hand with one degree of actuation, based on an integration that respects the hand's mechanical functionality. We consider: (i) closed-loop tactile control to establish a light contact on an unknown held object, based on the structural similarity with an undeformed tactile image; and (ii) controlling the estimated pose of an edge feature of a held object, using a convolutional neural network approach developed for controlling other sensors in the TacTip family. Overall, this gives a foundation to endow soft robotic hands with human-like touch, with implications for autonomous grasping, manipulation, human-robot interaction and prosthetics. Supplemental video: https://youtu.be/ndsxj659bkQ

preprint2016arXiv

Latest Datasets and Technologies Presented in the Workshop on Grasping and Manipulation Datasets

This paper reports the activities and outcomes in the Workshop on Grasping and Manipulation Datasets that was organized under the International Conference on Robotics and Automation (ICRA) 2016. The half day workshop was packed with nine invited talks, 12 interactive presentations, and one panel discussion with ten panelists. This paper summarizes all the talks and presentations and recaps what has been discussed in the panels session. This summary servers as a review of recent developments in data collection in grasping and manipulation. Many of the presentations describe ongoing efforts or explorations that could be achieved and fully available in a year or two. The panel discussion not only commented on the current approaches, but also indicates new directions and focuses. The workshop clearly displayed the importance of quality datasets in robotics and robotic grasping and manipulation field. Hopefully the workshop could motivate larger efforts to create big datasets that are comparable with big datasets in other communities such as computer vision.

preprint2014arXiv

A note on drastic product logic

The drastic product $*_D$ is known to be the smallest $t$-norm, since $x *_D y = 0$ whenever $x, y < 1$. This $t$-norm is not left-continuous, and hence it does not admit a residuum. So, there are no drastic product $t$-norm based many-valued logics, in the sense of [EG01]. However, if we renounce standard completeness, we can study the logic whose semantics is provided by those MTL chains whose monoidal operation is the drastic product. This logic is called ${\rm S}_{3}{\rm MTL}$ in [NOG06]. In this note we justify the study of this logic, which we rechristen DP (for drastic product), by means of some interesting properties relating DP and its algebraic semantics to a weakened law of excluded middle, to the $Δ$ projection operator and to discriminator varieties. We shall show that the category of finite DP-algebras is dually equivalent to a category whose objects are multisets of finite chains. This duality allows us to classify all axiomatic extensions of DP, and to compute the free finitely generated DP-algebras.

preprint2014arXiv

Trakhtenbrot theorem and first-order axiomatic extensions of MTL

In 1950, B.A. Trakhtenbrot showed that the set of first-order tautologies associated to finite models is not recursively enumerable. In 1999, P. Hájek generalized this result to the first-order versions of Łukasiewicz, Gödel and Product logics. In this paper we extend the analysis to the first-order axiomatic extensions of MTL. Our main result is the following. Let L be an axiomatic extension L of MTL s.t. TAUT$_\text{L}$ is decidable, and whose corresponding variety is generated by a chain: for every generic L-chain $\mathcal{A}$ the set fTAUT$^\mathcal{A}_{\forall}$ (the set of first-order tautologies associated to the finite $\mathcal{A}$-models) is $Π_1$. Moreover, if in addition L is an extension of BL or an extension of SMTL or an extension of WNM, then for every generic L-chain $\mathcal{A}$ the set fTAUT$^\mathcal{A}_{\forall}$ is $Π_1$-complete. More in general, for every axiomatic extension L of MTL s.t. TAUT$_\text{L}$ is decidable there is no L-chain $\mathcal{A}$ such that L$\forall$ is complete w.r.t. the class of finite $\mathcal{A}$-models. We have negative results also if we expand the language with the $Δ$ operator.

preprint2013arXiv

A temporal semantics for Nilpotent Minimum logic

In [Ban97] a connection among rough sets (in particular, pre-rough algebras) and three-valued Łukasiewicz logic Ł3 is pointed out. In this paper we present a temporal like semantics for Nilpotent Minimum logic NM ([Fod95, EG01]), in which the logic of every instant is given by Ł3: a completeness theorem will be shown. This is the prosecution of the work initiated in [AGM08] and [ABM09], in which the authors construct a temporal semantics for the many-valued logics of Gödel ([Göd32], [Dum59]) and Basic Logic ([Háj98]).

preprint2012arXiv

First-order Nilpotent Minimum Logics: first steps

Following the lines of the analysis done in [BPZ07, BCF07] for first-order Gödel logics, we present an analogous investigation for Nilpotent Minimum logic NM. We study decidability and reciprocal inclusion of various sets of first-order tautologies of some subalgebras of the standard Nilpotent Minimum algebra. We establish a connection between the validity in an NM-chain of certain first-order formulas and its order type. Furthermore, we analyze axiomatizability, undecidability and the monadic fragments.

preprint2012arXiv

On some logical and algebraic properties of axiomatic extensions of the monoidal t-norm based logic MTL related with single chain completeness

In [Mon11] are studied, for the axiomatic extensions of the monoidal t-norm based logic ([EG01]), the properties of single chain completeness. On the other side, in [GJKO07, Chapter 5] are studied many logical and algebraic properties (like Halldén completeness, variable separation properties, amalgamation property etc.), in the context of substructural logics. The aim of this paper is twofold: first of all we will specialize the properties studied in [GJKO07, Chapter 5] from the case of substructural logics to the one of extensions of MTL, by obtaining some general characterization. Moreover we will show that some of these properties are indeed strictly connected to the topics developed in [Mon11]. This will help to have a better intuition concerning some open problems of [Mon11].

preprint2012arXiv

Synergy-Based Hand Pose Sensing: Optimal Glove Design

In this paper we study the problem of improving human hand pose sensing device performance by exploiting the knowledge on how humans most frequently use their hands in grasping tasks. In a companion paper we studied the problem of maximizing the reconstruction accuracy of the hand pose from partial and noisy data provided by any given pose sensing device (a sensorized "glove") taking into account statistical a priori information. In this paper we consider the dual problem of how to design pose sensing devices, i.e. how and where to place sensors on a glove, to get maximum information about the actual hand posture. We study the continuous case, whereas individual sensing elements in the glove measure a linear combination of joint angles, the discrete case, whereas each measure corresponds to a single joint angle, and the most general hybrid case, whereas both continuous and discrete sensing elements are available. The objective is to provide, for given a priori information and fixed number of measurements, the optimal design minimizing in average the reconstruction error. Solutions relying on the geometrical synergy definition as well as gradient flow-based techniques are provided. Simulations of reconstruction performance show the effectiveness of the proposed optimal design.

preprint2012arXiv

Synergy-based Hand Pose Sensing: Reconstruction Enhancement

Low-cost sensing gloves for reconstruction posture provide measurements which are limited under several regards. They are generated through an imperfectly known model, are subject to noise, and may be less than the number of Degrees of Freedom (DoFs) of the hand. Under these conditions, direct reconstruction of the hand posture is an ill-posed problem, and performance can be very poor. This paper examines the problem of estimating the posture of a human hand using(low-cost) sensing gloves, and how to improve their performance by exploiting the knowledge on how humans most frequently use their hands. To increase the accuracy of pose reconstruction without modifying the glove hardware - hence basically at no extra cost - we propose to collect, organize, and exploit information on the probabilistic distribution of human hand poses in common tasks. We discuss how a database of such an a priori information can be built, represented in a hierarchy of correlation patterns or postural synergies, and fused with glove data in a consistent way, so as to provide a good hand pose reconstruction in spite of insufficient and inaccurate sensing data. Simulations and experiments on a low-cost glove are reported which demonstrate the effectiveness of the proposed techniques.

preprint2012arXiv

The variety generated by all the ordinal sums of perfect MV-chains

We present the logic BL_Chang, an axiomatic extension of BL (see P. Hájek - Metamathematics of fuzzy logic - 1998, Kluwer) whose corresponding algebras form the smallest variety containing all the ordinal sums of perfect MV-chains. We will analyze this logic and the corresponding algebraic semantics in the propositional and in the first-order case. As we will see, moreover, the variety of BL_Chang-algebras will be strictly connected to the one generated by Chang's MV-algebra (that is, the variety generated by all the perfect MV-algebras): we will also give some new results concerning these last structures and their logic.