Self-supervised 6D Object Pose Estimation for Robot Manipulation

23 September 2019

Papers citing "Self-supervised 6D Object Pose Estimation for Robot Manipulation"

50 / 65 papers shown

Title
Active 6D Pose Estimation for Textureless Objects using Multi-View RGB Frames Jun Yang Wenjie Xue Sahar Ghavidel Steven L. Waslander 48 0 0 05 Mar 2025
6DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splatting Yufeng Jin V. Prasad Snehal Jauhri Mathias Franzius Georgia Chalvatzaki 3DGS 90 0 0 02 Dec 2024
Object Pose Estimation Using Implicit Representation For Transparent Objects Varun Burde Artem Moroz Vit Zeman Pavel Burget 31 0 0 17 Oct 2024
CVAM-Pose: Conditional Variational Autoencoder for Multi-Object Monocular Pose Estimation Jianyu Zhao Wei Quan Bogdan J. Matuszewski 18 0 0 11 Oct 2024
Toward General Object-level Mapping from Sparse Views with 3D Diffusion Priors Ziwei Liao Binbin Xu Steven L. Waslander DiffM 26 3 0 07 Oct 2024
Image First or Text First? Optimising the Sequencing of Modalities in Large Language Model Prompting and Reasoning Tasks Grant Wardle Teo Susnjak LRM 33 5 0 04 Oct 2024
SSL-NBV: A Self-Supervised-Learning-Based Next-Best-View algorithm for Efficient 3D Plant Reconstruction by a Robot Jianchao Ci Eldert J. van Henten Xin Wang A. K. Burusa Gert Kootstra 25 1 0 02 Oct 2024
FAFA: Frequency-Aware Flow-Aided Self-Supervision for Underwater Object Pose Estimation Jingyi Tang Gu Wang Zeyu Chen Shengquan Li Xiu Li Xiangyang Ji 26 2 0 25 Sep 2024
Improving Soft-Capture Phase Success in Space Debris Removal Missions: Leveraging Deep Reinforcement Learning and Tactile Feedback Bahador Beigomi Zheng H. Zhu 32 0 0 18 Sep 2024
Good Grasps Only: A data engine for self-supervised fine-tuning of pose estimation using grasp poses for verification Frederik Hagelskjær 26 0 0 17 Sep 2024
Test-Time Certifiable Self-Supervision to Bridge the Sim2Real Gap in Event-Based Satellite Pose Estimation Mohsi Jawaid Rajat Talak Yasir Latif Luca Carlone Tat-Jun Chin 3DPC 28 0 0 10 Sep 2024
Adapting Skills to Novel Grasps: A Self-Supervised Approach Georgios Papagiannis Kamil Dreczkowski Vitalis Vosylius Arno Solin SSL 31 0 0 31 Jul 2024
Certifying Robustness of Learning-Based Keypoint Detection and Pose Estimation Methods Zheqi Lv Shaoxuan He Simin Liu Wenqiao Zhang Luis Mattei-Mendez Taylor Loper Jingyuan Chen Zhou Zhao Changliu Liu 3DPC 16 0 0 31 Jul 2024
Learning to Estimate the Pose of a Peer Robot in a Camera Image by Predicting the States of its LEDs Nicholas Carlotti Mirko Nava Alessandro Giusti SSL 27 0 0 15 Jul 2024
SAM-E: Leveraging Visual Foundation Model with Sequence Imitation for Embodied Manipulation Junjie Zhang Chenjia Bai Haoran He Wenke Xia Zhigang Wang Bin Zhao Xiu Li Xuelong Li 35 12 0 30 May 2024
GoalGrasp: Grasping Goals in Partially Occluded Scenarios without Grasp Training Shun Gui Yan Luximon Yan Luximon 40 0 0 08 May 2024
Diffusion-Driven Self-Supervised Learning for Shape Reconstruction and Pose Estimation Jingtao Sun Yaonan Wang Mingtao Feng Chao Ding Mike Zheng Shou Ajmal Saeed Mian DiffM 39 0 0 19 Mar 2024
CLOSURE: Fast Quantification of Pose Uncertainty Sets Yihuai Gao Yukai Tang Han Qi Heng Yang 29 5 0 15 Mar 2024
Self-Supervised Learning of Visual Robot Localization Using LED State Prediction as a Pretext Task Mirko Nava Nicholas Carlotti Luca Crupi Daniele Palossi Alessandro Giusti SSL 11 2 0 15 Feb 2024
Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D Hao-zhe Huang Owen Howell Dian Wang Xu Zhu Robin G. Walters Robert W. Platt 31 22 0 22 Jan 2024
Learning Object State Changes in Videos: An Open-World Perspective Zihui Xue Kumar Ashutosh Kristen Grauman VGen 32 18 0 19 Dec 2023
Pseudo-keypoint RKHS Learning for Self-supervised 6DoF Pose Estimation Yangzheng Wu Michael A. Greenspan 16 1 0 16 Nov 2023
Efficient, Self-Supervised Human Pose Estimation with Inductive Prior Tuning Nobline Yoo Olga Russakovsky 21 0 0 06 Nov 2023
LanPose: Language-Instructed 6D Object Pose Estimation for Robotic Assembly Bowen Fu Sek Kun Leong Yan Di Jiwen Tang Xiangyang Ji 24 5 0 20 Oct 2023
Key Point-based Orientation Estimation of Strawberries for Robotic Fruit Picking Justin Le Louëdec Grzegorz Cielniak 23 2 0 17 Oct 2023
MFOS: Model-Free & One-Shot Object Pose Estimation Jongmin Lee Yohann Cabon Romain Brégier Sungjoo Yoo Jérôme Revaud ViT 26 6 0 03 Oct 2023
DefGoalNet: Contextual Goal Learning from Demonstrations For Deformable Object Manipulation Bao Thach Tanner Watts S. Ho Tucker Hermans Alan Kuntz 28 0 0 25 Sep 2023
Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors Ziwei Liao Jun Yang Jingxing Qian Angela P. Schoellig Steven L. Waslander 22 5 0 17 Sep 2023
DR-Pose: A Two-stage Deformation-and-Registration Pipeline for Category-level 6D Object Pose Estimation Lei Zhou Zhiyang Liu Runze Gan Haozhe Jasper Wang Marcelo H ANG Jr 3DPC 13 9 0 05 Sep 2023
RoboTAP: Tracking Arbitrary Points for Few-Shot Visual Imitation Mel Vecerík Carl Doersch Yi Yang Todor Davchev Y. Aytar Guangyao Zhou R. Hadsell Lourdes Agapito Jonathan Scholz 53 47 0 30 Aug 2023
Active Pose Refinement for Textureless Shiny Objects using the Structured Light Camera Jun Yang Jian Yao Steven L. Waslander 19 2 0 28 Aug 2023
Leveraging Symmetries in Pick and Place Hao-zhe Huang Dian Wang Arsh Tangri Robin G. Walters Robert W. Platt 29 14 0 15 Aug 2023
Deep Fusion Transformer Network with Weighted Vector-Wise Keypoints Voting for Robust 6D Object Pose Estimation Jun Zhou Kai-xiang Chen Linlin Xu Qingyu Dou Jin Qin 3DPC 30 23 0 10 Aug 2023
DTF-Net: Category-Level Pose Estimation and Shape Reconstruction via Deformable Template Field Haowen Wang Zhipeng Fan Zhen Zhao Zhengping Che Zhiyuan Xu Dong Liu Feifei Feng Yakun Huang Xiuquan Qiao Jian Tang 28 7 0 04 Aug 2023
MIMONet: Multi-Input Multi-Output On-Device Deep Learning Zexin Li Xiaoxi He Yufei Li Shahab Nikkhoo Wei Yang Lothar Thiele Cong Liu 35 5 0 22 Jul 2023
GenPose: Generative Category-level Object Pose Estimation via Diffusion Models Jiyao Zhang Min-Yu Wu Hao Dong DiffM 43 35 0 18 Jun 2023
Uncertain Pose Estimation during Contact Tasks using Differentiable Contact Features Jeongmin Lee Minji Lee Dongjun Lee 20 9 0 26 May 2023
DeformerNet: Learning Bimanual Manipulation of 3D Deformable Objects Bao Thach Brian Y. Cho Shing-Hei Ho Tucker Hermans Alan Kuntz 23 4 0 08 May 2023
Learning Tri-mode Grasping for Ambidextrous Robot Picking Chenlin Zhou Peng Wang Wei Wei Guangyun Xu Fuyu Li Jia sun 3DPC 31 0 0 13 Feb 2023
TexPose: Neural Texture Learning for Self-Supervised 6D Object Pose Estimation Hanzhi Chen Fabian Manhardt Nassir Navab Benjamin Busam SSL 26 36 0 25 Dec 2022
CPPF++: Uncertainty-Aware Sim2Real Object Pose Estimation by Vote Aggregation Yang You Wenhao He Jin Liu Hongkai Xiong Weiming Wang Cewu Lu 3DPC 25 4 0 24 Nov 2022
6D Pose Estimation for Textureless Objects on RGB Frames using Multi-View Optimization Jun Yang Wenjie Xue Sahar Ghavidel Steven L. Waslander 32 11 0 20 Oct 2022
Visual Servoing with Geometrically Interpretable Neural Perception Antonio Paolillo Mirko Nava Dario Piga Alessandro Giusti SSL 24 4 0 19 Oct 2022
Self-supervised Pre-training for Semantic Segmentation in an Indoor Scene Sulabh Shrestha Yimeng Li Jana Kosecka 3DPC SSL SSeg 33 2 0 04 Oct 2022
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation Mohit Shridhar Lucas Manuelli D. Fox LM&Ro 158 456 0 12 Sep 2022
RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wild Jason Y. Zhang Deva Ramanan Shubham Tulsiani 34 86 0 11 Aug 2022
RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimation Ruida Zhang Yan Di Zhiqiang Lou Fabian Manhardt F. Tombari Xiangyang Ji 3DPC 14 47 0 30 Jul 2022
Transformers are Adaptable Task Planners Vidhi Jain Yixin Lin Eric Undersander Yonatan Bisk Akshara Rai 22 24 0 06 Jul 2022
Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning Hyunwoo Ryu Jeong-Hoon Lee Honglak Lee Jongeun Choi 37 53 0 16 Jun 2022
Sim-to-Real 6D Object Pose Estimation via Iterative Self-training for Robotic Bin Picking Kai-xiang Chen Ruizhi Cao Stephen James Yichuan Li Yunhui Liu Pieter Abbeel Qi Dou 3DPC 32 26 0 14 Apr 2022