12 papers
Scaling Latent Motor Adaptation to Coordinated Bimanual Manipulation
Seung-Bin Joo, Alessandro Albini, Luca Wiehe +3
Robust manipulation under uncertain object dynamics and geometry remains a core challenge in real-world robotics. Policies trained under fixed assumptions often degrade when object…
Diffusion-based Inverse Model of a Distributed Tactile Sensor for Object Pose Estimation
Ante Marić, Giammarco Caroleo, Alessandro Albini +3
Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effe…
Representing Data in Robotic Tactile Perception -- A Review
Alessandro Albini, Mohsen Kaboli, Giorgio Cannata +1
Robotic tactile perception is a complex process involving several computational steps performed at different levels. Tactile information is shaped by the interplay of robot actions…
Improving Tactile Gesture Recognition with Optical Flow
Shaohong Zhong, Alessandro Albini, Giammarco Caroleo +2
Tactile gesture recognition systems play a crucial role in Human-Robot Interaction (HRI) by enabling intuitive communication between humans and robots. The literature mainly addres…
Diffusion-based Inverse Observation Model for Artificial Skin
Ante Maric, Julius Jankowski, Giammarco Caroleo +3
Contact-based estimation of object pose is challenging due to discontinuities and ambiguous observations that can correspond to multiple possible system states. This multimodality…
Estimating Scene Flow in Robot Surroundings with Distributed Miniaturized Time-of-Flight Sensors
Jack Sander, Giammarco Caroleo, Alessandro Albini +1
Tracking motions of humans or objects in the surroundings of the robot is essential to improve safe robot motions and reactions. In this work, we present an approach for scene flow…
Tiny LiDARs for Manipulator Self-Awareness: Sensor Characterization and Initial Localization Experiments
Giammarco Caroleo, Alessandro Albini, Daniele De Martini +2
For several tasks, ranging from manipulation to inspection, it is beneficial for robots to localize a target object in their surroundings. In this paper, we propose an approach tha…
Compliant Beaded-String Jamming For Variable Stiffness Anthropomorphic Fingers
Maximilian Westermann, Marco Pontin, Leone Costi +2
Achieving human-like dexterity in robotic grippers remains an open challenge, particularly in ensuring robust manipulation in uncertain environments. Soft robotic hands try to addr…
JAMMit! Monolithic 3D-Printing of a Bead Jamming Soft Pneumatic Arm
Yao Yao, Maximilian Westermann, Marco Pontin +2
3D-printed bellow soft pneumatic arms are widely adopted for their flexible design, ease of fabrication, and large deformation capabilities. However, their low stiffness limits the…
Soft Robot Localization Using Distributed Miniaturized Time-of-Flight Sensors
Giammarco Caroleo, Alessandro Albini, Perla Maiolino
Thanks to their compliance and adaptability, soft robots can be deployed to perform tasks in constrained or complex environments. In these scenarios, spatial awareness of the surro…
Touch-to-Touch Translation -- Learning the Mapping Between Heterogeneous Tactile Sensing Technologies
Francesco Grella, Alessandro Albini, Giorgio Cannata +1
The use of data-driven techniques for tactile data processing and classification has recently increased. However, collecting tactile data is a time-expensive and sensor-specific pr…
Contact modelling and tactile data processing for robot skin
Wojciech Wasko, Alessandro Albini, Perla Maiolino +2
Tactile sensing is a key enabling technology to develop complex behaviours for robots interacting with humans or the environment. This paper discusses computational aspects playing…