Author

Andrea Caraffa

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Preprint Sep 2026

Prior-free relative 6D pose estimation of multiple object instances

This work introduces prior-free relative 6D pose estimation, which lifts the assumption of knowing which object is to be posed within the scene, and formulates a novel method (PROSE) that finds coarse correspondences between object instances using multimodal foundation features, thus requiring no training.

Behdad Khodabandehloo, Andrea Caraffa, Davide Boscaini et al. · 0 citations

Jul 2026

xperception - Making Robotic Grasping Easier

The transition toward high-mix low-volume manufacturing demands flexibility in robotic manipulation. However, conventional vision systems remain a bottleneck, requiring extensive data collection and model retraining whenever a new object is introduced to the production line. To overcome this rigidity, we present xperce...

M. Bortolon, Andrea Caraffa, Alice Fasoli et al. · arXiv.org · 0 citations