3 papers
cs.RO2026
Temporal Tactile Encoding and Compliance for Intent-Aware Robot-to-Human Bimanual Handover
Pasquale Marra, Stefano Berti, Gabriele Mario Caddeo +1
Reliable robot-to-human handover requires the robot to infer when the person is ready to receive the object, and release it safely, comfortably, and at the right time. This is chal…
cs.CV2026
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…
cs.RO2026
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…