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…
Towards Shared Embodied Intelligence in Humanoid Robots through Optimization Development and Testing of the Human Aware ergoCub Robot
Carlotta Sartore, Mohamed Elobaid, Lorenzo Rapetti +13
Collaboration is central to human behavior, enabling tasks beyond individual capability. This ability arises from coordinating actions through internal representations of others, a…
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…