5 papers
Physically Grounded 3D Generative Reconstruction under Hand Occlusion using Proprioception and Multi-Contact Touch
Gabriele Mario Caddeo, Pasquale Marra, Lorenzo Natale
We propose a multimodal, physically grounded approach for metric-scale amodal object reconstruction and pose estimation under severe hand occlusion. Unlike prior occlusion-aware 3D…
Multifingered force-aware control for humanoid robots
Pasquale Marra, Gabriele M. Caddeo, Ugo Pattacini +1
In this paper, we address force-aware control and force distribution in robotic platforms with multi-fingered hands. Given a target goal and force estimates from tactile sensors, w…
Bayesian Active Object Recognition and 6D Pose Estimation from Multimodal Contact Sensing
Haodong Zheng, Gabriele M. Caddeo, Andrei C. Jalba +3
We present an active tactile exploration framework for joint object recognition and 6D pose estimation. The proposed method integrates wrist force/torque sensing, GelSight tactile…
Extremum Seeking Controlled Wiggling for Tactile Insertion
Levi Burner, Pavan Mantripragada, Gabriele M. Caddeo +3
When humans perform complex insertion tasks such as pushing a cup into a cupboard, routing a cable, or putting a key in a lock, they wiggle the object and adapt the process through…
FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensors
Amir-Hossein Shahidzadeh, Gabriele Caddeo, Koushik Alapati +3
In this paper, we tackle the problem of estimating 3D contact forces using vision-based tactile sensors. In particular, our goal is to estimate contact forces over a large range (u…