Author

Antonio Franchi

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Preprint Oct 2026

Tactile Reconstruction of Contact Task Frames and Forces for Hybrid Force/Motion Control

Hybrid force/motion control requires knowledge of the interaction force and of a task frame defining the force- and motion-controlled directions. These quantities are usually obtained from force/torque sensing or model-based residuals, often assuming also a nominal environment model. This work addresses the online esti...

A. Rapuano, S. Orelli, Barbara Bazzana et al. · 0 citations

#machine learning Preprint Sep 2026

CAVEAT: Recurrent Multimodal Diffusion Planning for Mapless Aerial Exploration

CAVEAT, a diffusion policy conditioned on a recurrent internal state updated from fused LiDAR, visual, and pose features and trained from trajectories generated by the map-based FUELv2 expert, is investigated through simulation.

Steven Visch, Nicolò Botteghi, Antonio Franchi et al. · 0 citations