HybAI 2026 Abstracts


Area 1 - Hybrid Intelligence: Integrating Physics-Based Principles with Data-Driven AI

Full Papers
Paper Nr: 7
Title:

Markerless Human Body Volume and Center of Mass Estimation from Dual RGB-D Cameras with Biomechanical Preliminary Assessment

Authors:

Usman Asghar, Shengjie He, Giulia Bassani, Josep Rueda Collell, Carlo Alberto Avizzano and Alessandro Filippeschi

Abstract: Precise estimations of human body segment volumes and related biomechanical properties are important in several fields, including biomechanics, ergonomics, healthcare, and sports science. This work presents a preliminary assessment of a cost-effective digital twin framework for estimating human body segment volumes (BSV) and biomechanical parameters using two RGB-D cameras. The framework captures synchronized RGB and depth images from the anterior and posterior views of a participant standing in an A-pose and generates segmented point clouds for complete 3D human body reconstruction using a regularized non-rigid mesh registration approach. The reconstructed model is further segmented into individual watertight body parts to estimate segment volumes, center of mass, and full body volume. The biomechanical applicability of the framework was evaluated by combining these segment properties with kinematic data acquired using a Vicon motion-capture system to estimate vertical ground reaction force (GRF) during an arm-swing task. For six participants, the BSV-based estimate incorporating the right upper arm, forearm, and torso yielded a median vertical GRF relative root-mean-square error (rRMSEFz) of 0.92% (range: 0.72–1.20%). These preliminary results support the feasibility of using the adopted BSV framework for participant-specific biomechanical analysis.
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Paper Nr: 9
Title:

A Gated Temporal Causality Scheme for Physics-Informed Neural Networks

Authors:

Peng Shu Ng, Elisa Y. M. Ang, Peng Cheng Wang and Teng Yong Ng

Abstract: Physics-Informed Neural Networks have shown considerable promise in solving partial differential equations across a variety of benchmark problems and engineering applications. However, their simultaneous optimization over the entire spatio-temporal domain is inconsistent with the sequential nature of transient problems. To address this limitation, Wang et al. (2022) introduced temporal causality to PINNs by assigning causal weights based on the accumulated residual losses of preceding time instances. In this study, a gated temporal causality scheme is proposed to enforce stricter temporal causality through a modified sigmoid function with two causality hyperparameters. The proposed scheme is evaluated on a two-dimensional water wave problem where the solution evolves sequentially in time. The stricter enforcement of temporal causality results in faster convergence and a more accurate final solution in comparison to conventional PINNs and Wang et al.’s formulation.
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Paper Nr: 10
Title:

When Does Physics Help? A Persistence-Aware Benchmark of Hybrid pH Prediction in Geothermal Steam Washing

Authors:

Massimo Satler and Carlo Alberto Avizzano

Abstract: Predicting process variables in industrial plants is often approached through either physics-based or data-driven models, yet their relative effectiveness strongly depends on the information content of the available measurements. This paper presents a persistence-aware benchmark of physics-based, data-driven, and hybrid predictors for washing-water pH estimation in a full-scale geothermal steam-washing plant using a 19-month industrial dataset comprising 21 asynchronous sensor signals. The benchmark compares a grey-box model based on acid-base recombination with online parameter identification, long short-term memory (LSTM) networks, gradient-boosted regression trees, and the persistence baseline. Results show that, at prediction horizons of 50 and 120 minutes, none of the considered predictors outperforms persistence. Although the grey-box model closely tracks the measured pH and the LSTM accurately reproduces the training dynamics, both fail to provide additional predictive information on real plant data. A combination of simulation-based verification, lagged-correlation analysis, multivariate predictability tests, and parameter identifiability analysis demonstrates that this limitation originates from the dataset rather than from the prediction models. The study further shows that the physics-based model becomes advantageous at multi-hour prediction horizons, where its error remains nearly constant while persistence progressively degrades, yielding up to a 43% reduction in prediction error after 24 hours.
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Short Papers
Paper Nr: 5
Title:

Hybrid Intelligence for Industrial Process Optimization

Authors:

Vittorio Lippi and Leonard Johard

Abstract: This paper presents a Hybrid Intelligence framework to address the sample inefficiency and safety limitations of purely data-driven industrial AI. We implement this framework through a differentiable digital twin of a municipal water distribution network in Julia using Scientific Machine Learning (SciML). By embedding neural networks into physical Differential-Algebraic Equations (DAEs), the architecture learns unmodeled residual dynamics via teacher forcing while enforcing hydraulic mass conservation. Evaluated against model predictive control and deep reinforcement learning baselines, our two-stage policy search balances operational safety and electricity costs. The gray-box model isolates unmetered background leaks under sensor noise (σ = 0.05 L/s) and computes a pumping schedule that achieves a 38.50% cost reduction with zero safety infractions over a 150-day continuous test horizon. Grounding neural networks in physical conservation laws yields an interpretable, robust world model for industrial control. All datasets and Julia/SciML code are open source.
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Paper Nr: 6
Title:

A Simple Gripper Interface for Simulator-Agnostic Cloth Manipulation

Authors:

Abhilash Nayak, Franco Coltraro, Maria Alberich-Carramiñana and Carme Torras

Abstract: This paper presents a grasping model for cloth manipulation specifically tailored to ease the deployment of robotic control methods. The model is robust, fast and easy to implement avoiding at the same time contact and friction considerations between the gripper and the cloth in favor of simple positional constraints. The gripper is described by its pose, jaw state, and an attached grasping volume. Two kinds of grasping volumes are considered: an axis-aligned box to simulate a pinch grasping and a square pyramidal volume to simulate point grasping. When the gripper closes, the discrete cloth positions lying inside this volume are selected, stored in the local gripper frame, and then transported with the gripper motion. A simple squeezing step is also included to progressively move the selected cloth positions toward the center of the grasping region, avoiding an instantaneous displacement at closure. The model can be used in any simulator as it only requires access to discrete cloth positions and a mechanism for imposing target positions as constraints. We implement our grasping model in conjunction with a constraint-based inextensible cloth simulator, where grasping is implemented as moving positional equality constraints coupled with stretch, shear, collision, and table contact projection steps. The same gripper trajectory is applied on a robot arm to fold a real piece of cloth, serving as a simple bridge between simulation and physical cloth manipulation and showcasing the realism and practicality of our idealized grasping model.
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Paper Nr: 8
Title:

Experimental Comparison of Linear MPC and Adaptive MPC for Transparency in a 1-DOF Elbow Exoskeleton: A Discussion

Authors:

Josep Rueda Collell, Alberto Maria Nobili, Shengjie He, Usman Asghar, Fabio Salsedo and Alessandro Filippeschi

Abstract: This paper presents a simulation-based benchmark for evaluating and comparing Model Predictive Control (MPC)-based control strategies applied to a one-degree-of-freedom (1-DOF) elbow exoskeleton model, with the objective of achieving device transparency. The comparative analysis is conducted using a Simulink environment incorporating sensor noise to emulate hardware imperfections. The study evaluates Linear MPC (LMPC) and Adaptive MPC (AMPC) approaches, alongside Proportional-Integral-Derivative (PID) and Natural Response (NR) as baseline methods. The investigation focuses on the impact of key scenario parameters on force interaction metrics, including nonlinear dynamics compensation; state estimation accuracy for noise robustness; controller tuning; and user motion speed.
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