Gabriele M. Caddeo — accepted AI-conference papers

2025

FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensors

Amir-Hossein Shahidzadeh, Gabriele M. Caddeo, Koushik Alapati, Lorenzo Natale, Cornelia Fermüller, Yiannis Aloimonos

ICRA 2025

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 (up to 15 N) on any objects while generalizing across different vision-based tactile sensors. Thus, we collected a dataset

Cited by 14 Source ↗Scholar ↗

2024

Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensors

Gabriele M. Caddeo, Andrea Maracani, Paolo Didier Alfano, Nicola A. Piga, Lorenzo Rosasco, Lorenzo Natale

ICRA 2024poster

In this paper, we address the Sim2Real gap in the field of vision-based tactile sensors for classifying object surfaces. We train a Diffusion Model to bridge this gap using a relatively small dataset of real-world images randomly collected from unlabeled everyday objects via the DIGIT sensor. Subseq…

Cited by 2 Source ↗code ↗Scholar ↗

2023

Collision-aware In-hand 6D Object Pose Estimation using Multiple Vision-based Tactile Sensors

Gabriele M. Caddeo, Nicola A. Piga, Fabrizio Bottarel, Lorenzo Natale

ICRA 2023poster

In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface. Specifically, we filter contact hypotheses using geometric reasoning a…

Cited by 17 Source ↗code ↗Scholar ↗