Ermanno Bartoli

PhD Student @ KTH Royal Institute of Technology

about me

I am a PhD Student at KTH Royal Institute of Technology 🇸🇪

I'm interested in 3D perception for robotics and semantic scene understanding, with a focus on enabling robots to perceive and operate in dynamic, human-centered environments.

Learn more about me here. See my awards here.

Explore My Projects

drag to orbit, hover any object, click a marker for the project

41 real segmented objects from an actual depth scan · ~20k points · colored by object type

News

2026-06-17Paper accepted to IEEE/RSJ IROS 2026.
2026-05-30Paper accepted to IEEE RO-MAN 2026.
2025-06-09Two papers accepted to IEEE RO-MAN 2025.
2023-01-01Joined KTH RPL as a PhD student, advised by Prof. Iolanda Leite.
2022-07-17Obtained an MSc in Artificial Intelligence & Robotics from Sapienza University of Rome.

Publications

arXiv preprint · 2026

GESTO: Human-Centric Spatio-Temporal Memory for Reasoning in Dynamic Scenes

Ermanno Bartoli, Buwei He, Dennis Rotondi, Sebastian Koch, Federico Tombari, Kai O. Arras, Patric Jensfelt, Yixi Cai, Iolanda Leite
IEEE/RSJ IROS · 2026

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots

Ermanno Bartoli, Dennis Rotondi, Buwei He, Patric Jensfelt, Kai O. Arras, Iolanda Leite
IEEE RO-MAN · 2025

The Need for (Robot) Speed: Offloading Heavy Computations Improves Response Time and User Experience in Spoken Interactions

Ermanno Bartoli, Rebecca Stower, Hanna Werner, Bryan Donyanvard, Jana Tumova, Iolanda Leite
IEEE RO-MAN · 2025

STREAK: Streaming Network for Continual Learning of Object Relocations under Household Context Drifts

Ermanno Bartoli, Fethiye Irmak Doğan, Iolanda Leite
LEAP-HRI Workshop · 2025

Long-Term Planning Around Humans in Domestic Environments with 3D Scene Graphs

Ermanno Bartoli, Dennis Rotondi, Kai O. Arras, Iolanda Leite
IEEE/RSJ IROS · 2023

Real-Time RRT* with Signal Temporal Logic Preferences

Alexis Linard, Ilaria Torre, Ermanno Bartoli, et al.
AIxIA · 2022

Knowledge Acquisition and Completion for Long-Term Human-Robot Interactions Using Knowledge Graph Embedding

Ermanno Bartoli, Francesco Argenziano, Vincenzo Suriani, et al.
IEEE RO-MAN · 2022

Nothing About Us Without Us: A Participatory Design for an Inclusive Signing Tiago Robot

Emanuele Antonioni, Cristiana Sanalitro, Olga Capirci, et al.