Publications

Descriptor: Parasitoid Wasps and Associated Hymenoptera Dataset (DAPWH)

João Manoel Herrera Pinheiro, Gabriela do Nascimento Herrera, Luciana Bueno dos Reis Fernandes, Alvaro Doria dos Santos, Ricardo V. Godoy, Eduardo A. B. Almeida, Helena Carolina Onody, Marcelo Andrade da Costa Vieira, Angelica Maria Penteado-Dias, Marcelo Becker

2026 IEEE Data Descriptions

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visionperception

Combining Augmented Reality with Semi-autonomous, Lightmyography Based Control to Improve Usability of Prostheses

Bonnie Guan, Zhe Wang, Ricardo V. Godoy, Mahonri Owen, Minas Liarokapis

2026 IEEE ACCESS

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teleoperationbiosignalcontrolgraspingmanipulationdexterous-manipulationwearable-sensing

A Leaf-Level Dataset for Soybean-Cotton Detection and Segmentation

Thiago H. Segreto, Juliano D. Negri, Paulo H. Polegato, João Manoel Herrera Pinheiro, Ricardo V. Godoy, Marcelo Becker

2026 Nature Scientific Data

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perceptionvision

The impact of feature scaling in machine learning: Effects on regression and classification tasks

João Manoel Herrera Pinheiro, Suzana Vilas Boas de Oliveira, Thiago Henrique Segreto Silva, Pedro Antonio Rabelo Saraiva, Enzo Ferreira de Souza, Ricardo V. Godoy, Leonardo André Ambrosio, Marcelo Becker

2025 IEEE Access

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Offline Versus Real-Time Grasp Prediction Employing a Wearable High-Density Lightmyography Armband: On the Control of Prosthetic Hands

Bonnie Guan, Ricardo V. Godoy, Mojtaba Shahmohammadi, Anany Dwivedi, Minas Liarokapis

2025 IEEE Access

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biosignalgraspingmanipulationwearable-sensingcontrol

Multi-Layer, Sensorized Kirigami Grippers for Delicate Yet Robust Robot Grasping and Single-Grasp Object Identification

Joao Buzzatto, Haodan Jiang, Junbang Liang, Bryan Busby, Angus Lynch, Ricardo V. Godoy, Saori Matsunaga, Rintaro Haraguchi, Toshisada Mariyama, Bruce A. MacDonald, Minas Liarokapis

2024 IEEE Access

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graspingmanipulation

Electromyography Based Gesture Decoding Employing Few-Shot Learning, Transfer Learning, and Training From Scratch

Ricardo V. Godoy, Bonnie Guan, Felipe Sanches, Anany Dwivedi, Minas Liarokapis

2023 IEEE Access

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graspingmanipulationbiosignalwearable-sensing

On lightmyography based muscle-machine interfaces for the efficient decoding of human gestures and forces

Mojtaba Shahmohammadi, Bonnie Guan, Ricardo V. Godoy, Anany Dwivedi, Poul Nielsen, Minas Liarokapis

2023 Nature Scientific Reports

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biosignalcontrolgraspingmanipulationwearable-sensing

On EMG Based Dexterous Robotic Telemanipulation: Assessing Machine Learning Techniques, Feature Extraction Methods, and Shared Control Schemes

Ricardo V. Godoy, Anany Dwivedi, Bonnie Guan, Amber Turner, Dasha Shieff, Minas Liarokapis

2022 IEEE ACCESS

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teleoperationbiosignalcontrolgraspingmanipulationdexterous-manipulationwearable-sensing

Electromyography Based Decoding of Dexterous, In-Hand Manipulation Motions With Temporal Multichannel Vision Transformers

Ricardo V. Godoy, Anany Dwivedi, Minas Liarokapis

2022 IEEE Transactions on Neural Systems and Rehabilitation Engineering

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controlbiosignalmanipulationgraspingdexterous-manipulationwearable-sensing

Electromyography-Based, Robust Hand Motion Classification Employing Temporal Multi-Channel Vision Transformers

Ricardo V. Godoy, Gustavo J. G. Lahr, Anany Dwivedi, Tharik J. S. Reis, Paulo H. Polegato, Marcelo Becker, Glauco A. P. Caurin, Minas Liarokapis

2022 IEEE RA-L

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biosignalgraspingmanipulationcontrolwearable-sensing

VLN on the Fly: A Fully Onboard Vision-Language Navigation Stack for Aerial Robots

Marco S. Taya, Felipe Tommaselli, Gianluca Capezutto, Pedro Antonio Rabelo Saraiva, Pedro H. V. de Freitas, Lucas Kido, Guilherme Sonego, Ricardo V. Godoy, Marcelo Becker

2026 International Micro Air Vehicle (IMAV) conference and competition 2026

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Towards Capability-Aware Traversability Navigation for Unstructured Environments

Gianluca Capezzuto, Felipe Tommaselli, Matheus P. Angarola, Ricardo V. Godoy, Marcelo Becker

2026 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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control

Evaluating Zero‑Shot and One‑Shot Adaptation of Small Language Models in Leader‑Follower Interaction

Rafael R. Baptista, André de Lima Salgado, Ricardo V. Godoy, Marcelo Becker, Thiago Boaventura, Gustavo J. G. Lahr

2026 IEEE RAS/EMBS 11th International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2026

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human-robot-interaction

On Semi-Autonomous, Intuitive, Lightmyography Based Control of Humanlike Robotic and Prosthetic Hands Utilizing Video and IMU Data

Bonnie Guan, Masahiro Kobayashi, Ricardo V. Godoy, Mahonri Owen, Minas Liarokapis

2025 2025 IEEE International Conference on BioInformatics and BioEngineering (BIBE 2025)

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teleoperationshared-controlwearable-sensingbiosignalmanipulationvisionperceptioncontrol

Optimizing Grasping in Legged Robots: A Deep Learning Approach to Loco-Manipulation

Dilermando Almeida, Guilherme Lazzarini, Juliano Negri, Thiago H. Segreto, Ricardo V. Godoy, Marcelo Becker

2025 2025 IEEE Latin American Robotics Symposium (LARS)

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manipulationgraspinglocomanipulationmobile-manipulationlegged-robotsperceptionvisioncontrolsim2real

A Synthetic Dataset for Manometry Recognition in Robotic Applications

Pedro Antonio Rabelo Saraiva, Enzo Ferreira de Souza, João Manoel Herrera Pinheiro, Thiago H. Segreto, Ricardo V. Godoy, Marcelo Becker

2025 2025 IEEE Latin American Robotics Symposium (LARS)

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sim2realperceptionvision

Autonomous UAV Flight Navigation in Confined Spaces: A Reinforcement Learning Approach

Marco S. Tayar, Lucas K. de Oliveira, Felipe Andrade G. Tommaselli, Juliano D. Negri, Thiago H. Segreto, Ricardo V. Godoy, Marcelo Becker

2025 2025 IEEE Latin American Robotics Symposium (LARS)

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controlvisionreinforcement-learning

A Vision-Based Shared-Control Teleoperation Scheme for Controlling the Robotic Arm of a Four-Legged Robot

Murilo Vinicius da Silva, Matheus Hipolito Carvalho, Juliano Negri, Thiago Segreto, Gustavo J. G. Lahr, Ricardo V. Godoy, Marcelo Becker

2025 2025 IEEE Latin American Robotics Symposium (LARS) Best Paper, IEEE LARS 2025

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teleoperationshared-controlcontrolvisionperceptionmanipulationgraspingmobile-manipulationlegged-robots

On the Impact of Different Light Wavelengths in Decoding Human Intention in Lightmyography Controlled Prosthetic Hands

Bonnie Guan, Ricardo V. Godoy, Anany Dwivedi, Minas Liarokapis

2025 2025 47th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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biosignalmanipulationgraspingwearable-sensingcontrol

MIHRaGe: A Mixed-Reality Interface for Human-Robot Interaction via Gaze-Oriented Control

Rafael R. Baptista, Nina R. Gerszberg, Ricardo V. Godoy, Gustavo J. G. Lahr

2025 IEEE International Conference on Advanced Robotics (ICAR 2025)

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teleoperationwearable-sensingmanipulationhuman-robot-interactioncontrol

A Video Dataset of Everyday Life Grasps for the Training of Shared Control Operation Models for Myoelectric Prosthetic Hands

Ricardo V. Godoy, Bonnie Guan, Anany Dwivedi, Mahonri Owen, Minas Liarokapis

2024 2024 46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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visiongraspingperceptionmanipulation

On Semi-Autonomous Robotic Telemanipulation Employing Electromyography Based Motion Decoding and Potential Fields

Bonnie Guan, Ricardo V. Godoy, Felipe Sanches, Anany Dwivedi, Minas Liarokapis

2023 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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teleoperationshared-controlwearable-sensingcontrolbiosignalmanipulationgrasping

Scalable. Intuitive Human to Robot Skill Transfer with Wearable Human Machine Interfaces: On Complex, Dexterous Tasks

Felipe Sanches, Geng Gao, Nathan Elangovan, Ricardo V. Godoy, Jayden Chapman, Ke Wang, Patrick Jarvis, Minas Liarokapis

2023 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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controlmanipulationdexterous-manipulationwearable-sensing

Employing Multi-Layer, Sensorised Kirigami Grippers for Single-Grasp Based Identification of Objects and Force Exertion Estimation

Junbang Liang, Joao Buzzatto, Bryan Busby, Ricardo V. Godoy, Saori Matsunaga, Rintaro Haraguchi, Toshisada Mariyama, Bruce A. MacDonald, Minas Liarokapis

2023 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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graspingvisioncontrol

An Affordances and Electromyography Based Telemanipulation Framework for Control of Robotic Arm-Hand Systems

Ricardo V. Godoy, Bonnie Guan, Anany Dwivedi, Minas Liarokapis

2023 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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teleoperationshared-controlwearable-sensingcontrolbiosignalmanipulation

An Adaptive, Humanlike Prosthetic Hand Equipped with a Series Elastic Differential and a Lightmyography Based Control Interface

Mojtaba Shahmohammadi, Bonnie Guan, Ricardo V. Godoy, Minas Liarokapis

2023 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)

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controlgraspingbiosignalwearable-sensing

Multi-Grasp Classification for the Control of Robot Hands Employing Transformers and Lightmyography Signals

Ricardo V. Godoy, Bonnie Guan, Anany Dwivedi, Mojtaba Shahmohammadi, Mahonri Owen, Minas Liarokapis

2023 2023 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)

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graspingcontroldexterous-manipulation

On Human Grasping and Manipulation in Kitchens: Automated Annotation, Insights, and Metrics for Effective Data Collection

Nathan Elangovan, Ricardo V. Godoy, Felipe Sanches, Ke Wang, Tom White, Patrick Jarvis, Minas Liarokapis

2023 2023 IEEE International Conference on Robotics and Automation (ICRA)

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visiongraspingmanipulationperception

Comparing Human and Robot Performance in the Execution of Kitchen Tasks: Evaluating Grasping and Dexterous Manipulation Skills

Nathan Elangovan, Che-Ming Chang, Ricardo V. Godoy, Felipe Sanches, Ke Wang, Patrick Jarvis, Minas Liarokapis

2022 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)

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graspingmanipulation

Lightmyography Based Decoding of Human Intention Using Temporal Multi-Channel Transformers

Ricardo V. Godoy, Anany Dwivedi, Mojtaba Shahmohammadi, Minas Liarokapis

2022 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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biosignalgraspingmanipulationwearable-sensing

Electromyography-Based, Robust Hand Motion Classification Employing Temporal Multi-Channel Vision Transformers

Ricardo V. Godoy, Gustavo J. G. Lahr, Anany Dwivedi, Tharik J. S. Reis, Paulo H. Polegato, Marcelo Becker, Glauco A. P. Caurin, Minas Liarokapis

2022 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)

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controlbiosignalgraspingmanipulationwearable-sensing

Redundant Robot Kinematics Error Analysis for Neurosurgical Procedures

Ricardo V. Godoy, Tharik J. S. Reis, Gustavo J. G. Lahr, Paulo H. Polegato, Marcelo Becker, Daniel V. Magalhães, Glauco A. P. Caurin, Helio R. Machado, Marcelo V. Santos

2021 2021 14th IEEE International Conference on Industry Applications (INDUSCON)

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teleoperationcontrol

Deep Reinforcement Learning Control of an Autonomous Wheeled Robot in a Challenge Task: Combined Visual and Dynamics Sensoring

Luiz Afonso Marão, Larissa Casteluci, Ricardo V. Godoy, Henrique Garcia, Daniel Varela Magalhães, Glauco Caurin

2019 2019 19th International Conference on Advanced Robotics (ICAR)

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controlreinforcement-learning

From Perception to Assistance: Open-Vocabulary Shared Autonomy for Robotic Manipulation

Murilo Vinicius da Silva, Ricardo V. Godoy, Juliano Negri, Gustavo J. G. Lahr, Ranulfo Bezerra, Marcelo Becker

2026 arXiv preprint · RA-L submission

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controlmanipulationteleoperationlocomanipulationshared-autonomyopen-vocabularycollision-avoidance

MIRA: A Modular Open-Source Micro-UAV for Indoor Research

Lucas K. de Oliveira, Felipe A. G. Tommaselli, João Aires Marsicano, Marco S. Tayar, Pedro A. R. Saraiva, Ricardo V. Godoy, Marcelo Becker

2026 arXiv preprint

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control

Biological Sex Determination in Cadavers Using Deep Learning Algorithms from Computed Tomography Images of Pelvis and Skull

Giovanna Herculano Tormena, Davi Nascimento Araújo, Germano Coimbra Soares de Carvalho, Gustavo Bruno Centenaro, Rafael Janowski Pozzer, Rodrigo Akira Azevedo Kurosawa, Danilo Aires Alves, Filipe Thiago Xavier de Campos, Pedro Henrique Macedo dos Santos, Pedro Augusto Prado Mota, Ricardo V. Godoy, João Manoel Herrera Pinheiro, Marcelo Becker

2026 Paper submitted to IEEE Access - Preprint available.

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perception

Mind the Phase: Effective Rank and Representation Health in Legged Locomotion

Felipe Andrade G. Tommaselli, Thiago Segreto, Juliano Negri, Ricardo V. Godoy, Marcelo Becker

2026 Paper submitted to CoRL 2026 - Preprint version available. Please click Download Paper below.

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control

Automated identification of Ichneumonoidea wasps via YOLO-based deep learning: Integrating HiresCam for Explainable AI

João Manoel Herrera Pinheiro, Gabriela do Nascimento Herrera, Alvaro Doria dos Santos, Luciana Bueno dos Reis Fernandes, Ricardo V. Godoy, Eduardo A. B. Almeida, Helena Carolina Onody, Marcelo Andrade da Costa Vieira, Angelica Maria Penteado-Dias, Marcelo Becker

2026 Paper submitted to Elsevier Applied Soft Computing

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visionperception

Language-Guided Grasping under Partial Observation for Mobile Manipulation in Field Inspection and Maintenance

Dilermando Almeida, Juliano Negri, Guilherme Lazzarini, Thiago H. Segreto, Ranulfo Bezerra, Gustavo J. G. Lahr, Ricardo V. Godoy, Marcelo Becker

2026 Preprint · arXiv

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controlgraspingvisionmanipulationmobile-manipulationperception

Improving Failure Prediction in Aircraft Fastener Assembly Using Synthetic Data in Imbalanced Datasets

Gustavo J. G. Lahr, Ricardo V. Godoy, Thiago H. Segreto, Jose O. Savazzi, Arash Ajoudani, Thiago Boaventura, Glauco A. P. Caurin

2025 arXiv

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manipulationcontrol

EEG-Based Epileptic Seizure Prediction Using Temporal Multi-Channel Transformers

Ricardo V. Godoy, Tharik J. S. Reis, Paulo H. Polegato, Gustavo J. G. Lahr, Ricardo L. Saute, Frederico N. Nakano, Helio R. Machado, Americo C. Sakamoto, Marcelo Becker, Glauco A. P. Caurin

2022 arXiv

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