Davide Costa

Youssef Attia, Davide Costa, Francesco Wanderlingh et al.

As underwater robotics research increasingly addresses complex 3D perception and autonomous navigation, the fidelity of sonar simulation has become a key factor in algorithm development. Current simulation frameworks typically rely on geometry-driven rendering, approximating 3D sonar as an underwater equivalent to LiDAR, which fails to account for fundamental acoustic phenomena such as refraction, multi-path interference, and phase-dependent signal formation. This paper proposes a modular architecture for realistic 3D sonar simulation that integrates GPU-accelerated graphics engines with physically grounded acoustic propagation principles. We implement a volumetric 3D sonar model within the NVIDIA Isaac Sim environment, modeled after the Water Linked 3D-15 sensor, and integrate it into a comprehensive underwater simulation framework. The system is validated through a hardware-in-the-loop configuration, where a modified FastLIO2 SLAM pipeline, executed on an NVIDIA Jetson Orin Nano, performs sensor fusion using synthetic 3D sonar, DVL, IMU, and pressure data. Finally, a qualitative comparison between simulated outputs and real-world data from harbor sheet-pile inspections is provided, characterizing the remaining sim-to-real gap and establishing a roadmap toward fully acoustics-driven volumetric sensing.

Davide Costa, Lucio La Cava, Andrea Tagarelli

Non-Fungible Tokens (NFTs) represent deeds of ownership, based on blockchain technologies and smart contracts, of unique crypto assets on digital art forms (e.g., artworks or collectibles). In the spotlight after skyrocketing in 2021, NFTs have attracted the attention of crypto enthusiasts and investors intent on placing promising investments in this profitable market. However, the NFT financial performance prediction has not been widely explored to date. In this work, we address the above problem based on the hypothesis that NFT images and their textual descriptions are essential proxies to predict the NFT selling prices. To this purpose, we propose MERLIN, a novel multimodal deep learning framework designed to train Transformer-based language and visual models, along with graph neural network models, on collections of NFTs' images and texts. A key aspect in MERLIN is its independence on financial features, as it exploits only the primary data a user interested in NFT trading would like to deal with, i.e., NFT images and textual descriptions. By learning dense representations of such data, a price-category classification task is performed by MERLIN models, which can also be tuned according to user preferences in the inference phase to mimic different risk-return investment profiles. Experimental evaluation on a publicly available dataset has shown that MERLIN models achieve significant performances according to several financial assessment criteria, fostering profitable investments, and also beating baseline machine-learning classifiers based on financial features.

Lucio La Cava, Davide Costa, Andrea Tagarelli

The fervor for Non-Fungible Tokens (NFTs) attracted countless creators, leading to a Big Bang of digital assets driven by latent or explicit forms of inspiration, as in many creative processes. This work exploits Vision Transformers and graph-based modeling to delve into visual inspiration phenomena between NFTs over the years. Our goals include unveiling the main structural traits that shape visual inspiration networks, exploring the interrelation between visual inspiration and asset performances, investigating crypto influence on inspiration processes, and explaining the inspiration relationships among NFTs. Our findings unveil how the pervasiveness of inspiration led to a temporary saturation of the visual feature space, the impact of the dichotomy between inspiring and inspired NFTs on their financial performance, and an intrinsic self-regulatory mechanism between markets and inspiration waves. Our work can serve as a starting point for gaining a broader view of the evolution of Web3.

Davide Cosimo, Davide Costa, Riccardo Costanzi et al.

This paper presents a modular software architecture that enables environmental-aware coordination of heterogeneous Autonomous Underwater Vehicles (AUVs) to improve underwater acoustic connectivity. The architecture combines a Robot Operating System 2 application layer with the DESERT Underwater communication framework through the rmw_desert middleware, and integrates a Robot Operating System 1 bridge to ensure interoperability with legacy vehicle front-seat controllers. This design enables fine-grained, cross-layer configurability of the communication stack and supports onboard processing of environmental measurements to inform adaptive communication behaviors. As a representative use case, this architecture is used to implement a lightweight depth-optimization strategy that exploits environmental awareness and AUV mobility to improve acoustic link performance. The complete software stack is validated through sea trials conducted off the Gulf of La Spezia in littoral water with an average depth of approximately 100m using a deployment involving three AUVs with distinct operational roles. Experimental results indicate that depth-adaptive repositioning yields measurable gains in packet reception at horizontal separation of approximately 1km, while differences are negligible at shorter ranges where the received signal energy remains above demodulation thresholds. Beyond link-level performance the sea trials confirm the feasibility, modularity, and practical deployability of the proposed architecture on existing AUV platforms.

Lucio La Cava, Davide Costa, Andrea Tagarelli

The significant progress in the development of Large Language Models has contributed to blurring the distinction between human and AI-generated text. The increasing pervasiveness of AI-generated text and the difficulty in detecting it poses new challenges for our society. In this paper, we tackle the problem of detecting and attributing AI-generated text by proposing WhosAI, a triplet-network contrastive learning framework designed to predict whether a given input text has been generated by humans or AI and to unveil the authorship of the text. Unlike most existing approaches, our proposed framework is conceived to learn semantic similarity representations from multiple generators at once, thus equally handling both detection and attribution tasks. Furthermore, WhosAI is model-agnostic and scalable to the release of new AI text-generation models by incorporating their generated instances into the embedding space learned by our framework. Experimental results on the TuringBench benchmark of 200K news articles show that our proposed framework achieves outstanding results in both the Turing Test and Authorship Attribution tasks, outperforming all the methods listed in the TuringBench benchmark leaderboards.