Roberto Cipollone 0002 Marco Favorito Flavio Maiorana Giuseppe De Giacomo Luca Iocchi Fabio Patrizi Exploiting robot abstractions in episodic RL via reward shaping and heuristics. 105116 2025 193 Robotics Auton. Syst. https://doi.org/10.1016/j.robot.2025.105116 db/journals/ras/ras193.html#CipolloneFMGIP25 streams/journals/ras