2 papers
cs.RO2026
Intent-guided Adaptive Stiffening for Visuomotor Policies under Unknown Resistance
Francesco Cufino, Carmela Mariniello, Mario Selvaggio +2
Manipulation tasks such as unscrewing a cap or sliding a part in contact with a surface require imposing force along a high-friction direction: the robot must overcome a resistance…
cs.RO2026
Compliant Non-Prehensile Pushing Manipulation
Francesco Cufino, Mario Selvaggio, Fabio Amadio +1
In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated e…