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2203.05701
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6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
11 March 2022
Stephen Tyree
Jonathan Tremblay
Thang To
Jia Cheng
Terry Mosier
Jeffrey Smith
Stan Birchfield
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Papers citing
"6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark"
50 / 76 papers shown
SpaceTools: Tool-Augmented Spatial Reasoning via Double Interactive RL
Siyi Chen
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03 Dec 2025
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Sungsu Kim
Valts Blukis
Greg Heinrich
Prashanth Krishnamurthy
Ramesh Karri
Stan Birchfield
Farshad Khorrami
Jonathan Tremblay
VLM
239
1
0
20 Nov 2025
OPFormer: Object Pose Estimation leveraging foundation model with geometric encoding
Artem Moroz
Vit Zeman
Martin Mikšík
Elizaveta Isianova
Miroslav David
Pavel Burget
Varun Burde
ViT
91
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16 Nov 2025
SlotVLA: Towards Modeling of Object-Relation Representations in Robotic Manipulation
Taisei Hanyu
Nhat Chung
H. Le
T. Nguyen
Yuki Ikebe
...
Tung Kieu
Kashu Yamazaki
Chase Rainwater
A. Nguyen
Ngan Le
261
1
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10 Nov 2025
VLM6D: VLM based 6Dof Pose Estimation based on RGB-D Images
Md Selim Sarowar
Sungho Kim
3DH
272
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31 Oct 2025
MUSE: Model-based Uncertainty-aware Similarity Estimation for zero-shot 2D Object Detection and Segmentation
Sungmin Cho
Sungbum Park
Insoo Oh
3DPC
VLM
197
0
0
15 Oct 2025
HccePose(BF): Predicting Front & Back Surfaces to Construct Ultra-Dense 2D-3D Correspondences for Pose Estimation
Yulin Wang
Mengting Hu
Hongli Li
Chen Luo
3DH
313
0
0
11 Oct 2025
VLBiMan: Vision-Language Anchored One-Shot Demonstration Enables Generalizable Bimanual Robotic Manipulation
Huayi Zhou
Kui Jia
LM&Ro
191
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26 Sep 2025
Depth Edge Alignment Loss: DEALing with Depth in Weakly Supervised Semantic Segmentation
Patrick Schmidt
Vasileios Belagiannis
Lazaros Nalpantidis
96
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0
22 Sep 2025
IMD: A 6-DoF Pose Estimation Benchmark for Industrial Metallic Objects
Ruimin Ma
Sebastian Zudaire
Zhen Li
Chi Zhang
151
0
0
15 Sep 2025
Australian Supermarket Object Set (ASOS): A Benchmark Dataset of Physical Objects and 3D Models for Robotics and Computer Vision
Akansel Cosgun
Lachlan Chumbley
Benjamin J. Meyer
76
0
0
09 Sep 2025
MR6D: Benchmarking 6D Pose Estimation for Mobile Robots
Anas Gouda
Shrutarv Awasthi
Christian Blesing
Lokeshwaran Manohar
Frank Hoffmann
Alice Kirchheim
133
0
0
19 Aug 2025
OmniShape: Zero-Shot Multi-Hypothesis Shape and Pose Estimation in the Real World
IEEE International Conference on Robotics and Automation (ICRA), 2025
Katherine Liu
Sergey Zakharov
D. Chen
Takuya Ikeda
G. Shakhnarovich
Adrien Gaidon
Rares Andrei Ambrus
136
0
0
05 Aug 2025
MVTOP: Multi-View Transformer-based Object Pose-Estimation
Lukas Ranftl
Felix Brendel
Bertram Drost
C. Steger
122
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0
05 Aug 2025
Visuo-Acoustic Hand Pose and Contact Estimation
Yuemin Ma
Uksang Yoo
Yunchao Yao
Shahram Najam Syed
Luca Bondi
Jonathan M Francis
Jean Oh
Jeffrey Ichnowski
149
1
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13 Jul 2025
NOCTIS: Novel Object Cyclic Threshold based Instance Segmentation
Max Gandyra
Alessandro Santonicola
Michael Beetz
252
1
0
02 Jul 2025
ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models
Puhao Li
Yingying Wu
Ziheng Xi
Wanlin Li
Yuzhe Huang
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Yinghan Chen
Jianan Wang
Song-Chun Zhu
Tengyu Liu
Siyuan Huang
LM&Ro
196
18
0
19 Jun 2025
CHIP: A multi-sensor dataset for 6D pose estimation of chairs in industrial settings
Mattia Nardon
Mikel Mujika Agirre
Ander González Tomé
Daniel Sedano Algarabel
Josep Rueda Collell
Ana Paola Caro
Andrea Caraffa
Fabio Poiesi
P. Chippendale
Davide Boscaini
236
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0
11 Jun 2025
XYZ-IBD: A High-precision Bin-picking Dataset for Object 6D Pose Estimation Capturing Real-world Industrial Complexity
Junwen Huang
Jizhong Liang
Jiaqi Hu
Martin Sundermeyer
Peter KT Yu
Nassir Navab
Benjamin Busam
210
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0
31 May 2025
GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenes
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
S. Back
J. Lee
Kangmin Kim
Heeseon Rho
Geonhyup Lee
...
S. Lee
Sangjun Noh
Youngjin Lee
Taeyeop Lee
K. Lee
3DV
333
1
0
09 Apr 2025
BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimation
Van Nguyen Nguyen
Stephen Tyree
Andrew Guo
Mederic Fourmy
Anas Gouda
...
Stan Birchfield
Jiri Matas
Yann Labbé
M. Sundermeyer
Tomás Hodan
3DPC
680
15
0
03 Apr 2025
MM-Spatial: Exploring 3D Spatial Understanding in Multimodal LLMs
Erik Daxberger
Nina Wenzel
David Griffiths
Haiming Gang
Justin Lazarow
...
Kai Kang
Marcin Eichner
Yue Yang
Afshin Dehghan
Peter Grasch
290
33
0
17 Mar 2025
6D Object Pose Tracking in Internet Videos for Robotic Manipulation
International Conference on Learning Representations (ICLR), 2025
Georgy Ponimatkin
Martin Cífka
Tomáš Souček
Médéric Fourmy
Yann Labbé
Vladimir Petrik
Josef Sivic
350
6
0
13 Mar 2025
Novel Object 6D Pose Estimation with a Single Reference View
Jian Liu
Wei Sun
Kai Zeng
Jin Zheng
Hui Yang
Hossein Rahmani
Hossein Rahmani
Lin Wang
349
5
0
07 Mar 2025
Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation
Siddhant Haldar
Lerrel Pinto
3DPC
355
25
0
27 Feb 2025
Multi-Keypoint Affordance Representation for Functional Dexterous Grasping
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Fan Yang
DongSheng Luo
Wenrui Chen
Jiacheng Lin
Junjie Cai
Kailun Yang
Hui Yuan
Yaonan Wang
380
2
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27 Feb 2025
A Critical Synthesis of Uncertainty Quantification and Foundation Models in Monocular Depth Estimation
S. Landgraf
Rongjun Qin
Markus Ulrich
UQCV
287
3
0
14 Jan 2025
VinT-6D: A Large-Scale Object-in-hand Dataset from Vision, Touch and Proprioception
International Conference on Machine Learning (ICML), 2024
Zhaoliang Wan
Yonggen Ling
Senlin Yi
Lu Qi
Wangwei Lee
...
Xiao Teng
Peng Lu
Xu Yang
Ming-Hsuan Yang
Hui Cheng
382
9
0
31 Dec 2024
GFreeDet: Exploiting Gaussian Splatting and Foundation Models for Model-free Unseen Object Detection in the BOP Challenge 2024
Xingyu Liu
Yingyue Li
Chengxi Li
Gu Wang
Chenyangguang Zhang
Ziqin Huang
Xiangyang Ji
3DGS
464
4
0
02 Dec 2024
RoboSpatial: Teaching Spatial Understanding to 2D and 3D Vision-Language Models for Robotics
Computer Vision and Pattern Recognition (CVPR), 2024
Chan Hee Song
Valts Blukis
Jonathan Tremblay
Stephen Tyree
Yu-Chuan Su
Stan Birchfield
841
82
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25 Nov 2024
Towards an Efficient Synthetic Image Data Pipeline for Training Vision-Based Robot Systems
Peter Gavriel
Adam Norton
Kenneth Kimble
Megan Zimmerman
258
1
0
09 Nov 2024
GRS: Generating Robotic Simulation Tasks from Real-World Images
Alex Zook
Fan-Yun Sun
Josef Spjut
Valts Blukis
Stan Birchfield
Jonathan Tremblay
427
8
0
20 Oct 2024
Object Pose Estimation Using Implicit Representation For Transparent Objects
Varun Burde
Artem Moroz
Vit Zeman
Pavel Burget
235
1
0
17 Oct 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
Conference on Robot Learning (CoRL), 2024
Wenlong Huang
Chen Wang
Yongqian Li
Ruohan Zhang
Li Fei-Fei
376
252
0
03 Sep 2024
Comparative Evaluation of 3D Reconstruction Methods for Object Pose Estimation
IEEE Workshop/Winter Conference on Applications of Computer Vision (WACV), 2024
Varun Burde
Assia Benbihi
Pavel Burget
Torsten Sattler
313
1
0
15 Aug 2024
Language-Guided Object-Centric Diffusion Policy for Generalizable and Collision-Aware Robotic Manipulation
Hang Li
Qian Feng
Zhi Zheng
Jianxiang Feng
Zhaopeng Chen
Alois Knoll
441
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29 Jun 2024
Review of Zero-Shot and Few-Shot AI Algorithms in The Medical Domain
Maged Badawi
Mohammedyahia Abushanab
Sheethal Bhat
Andreas Maier
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252
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Realistic Data Generation for 6D Pose Estimation of Surgical Instruments
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Jintan Zhang
Haoying Zhou
Adnan Munawar
Peter Kazanzides
MedIm
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Task and Motion Planning for Execution in the Real
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Rahul Shome
Lydia E. Kavraki
254
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Vision-based Manipulation from Single Human Video with Open-World Object Graphs
Yifeng Zhu
Arisrei Lim
Peter Stone
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387
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Deep Learning-Based Object Pose Estimation: A Comprehensive Survey
Jian Liu
Wei Sun
Hui Yang
Zhiwen Zeng
Chongpei Liu
Jin Zheng
Xingyu Liu
Hossein Rahmani
Andrii Zadaianchuk
Lin Wang
472
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Learning Embeddings with Centroid Triplet Loss for Object Identification in Robotic Grasping
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Max Schwarz
Christopher Reining
Sven Behnke
Alice Kirchheim
VLM
175
2
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09 Apr 2024
Gen3DSR: Generalizable 3D Scene Reconstruction via Divide and Conquer from a Single View
International Conference on 3D Vision (3DV), 2024
Andreea Dogaru
M. Ozer
Bernhard Egger
3DGS
371
23
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KITchen: A Real-World Benchmark and Dataset for 6D Object Pose Estimation in Kitchen Environments
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Tamim Asfour
407
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Multi-Object RANSAC: Efficient Plane Clustering Method in a Clutter
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Youngjae Yoo
Jun Ki Lee
Byoung-Tak Zhang
211
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BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objects
Tomás Hodan
M. Sundermeyer
Yann Labbé
Van Nguyen Nguyen
Gu Wang
Eric Brachmann
Bertram Drost
Vincent Lepetit
Carsten Rother
Jiri Matas
3DPC
361
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A Benchmark Grocery Dataset of Realworld Point Clouds From Single View
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Tejas Anvekar
Shivanand Kundargi
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Chandra Kambhamettu
378
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VR-based generation of photorealistic synthetic data for training hand-object tracking models
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Rahul Chaudhari
282
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PARSAC: Accelerating Robust Multi-Model Fitting with Parallel Sample Consensus
AAAI Conference on Artificial Intelligence (AAAI), 2024
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Bodo Rosenhahn
143
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FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning
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Charles Xu
Fangchen Liu
Liam Tan
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Sergey Levine
206
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