相关论文: ViTa-Zero: Zero-shot Visuotactile Object 6D Pose E…

Estimating 6D object pose from an RGB image is important for many real-world applications such as autonomous driving and robotic grasping. Recent deep learning models have achieved significant progress on this task but their robustness…

This paper introduces PoseLess, a novel framework for robot hand control that eliminates the need for explicit pose estimation by directly mapping 2D images to joint angles using projected representations. Our approach leverages synthetic…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…

With the explosive 3D data growth, the urgency of utilizing zero-shot learning to facilitate data labeling becomes evident. Recently, methods transferring language or language-image pre-training models like Contrastive Language-Image…

Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and…

Grasping and manipulating a wide variety of objects is a fundamental skill that would determine the success and wide spread adaptation of robots in homes. Several end-effector designs for robust manipulation have been proposed but they…

Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the…

We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data. Our method tracks in real-time novel object instances of known object categories such as bowls, laptops, and mugs. 6-PACK learns to…

In this paper we introduce EfficientPose, a new approach for 6D object pose estimation. Our method is highly accurate, efficient and scalable over a wide range of computational resources. Moreover, it can detect the 2D bounding box of…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

Accurate 3D object detection with LiDAR is critical for autonomous driving. Existing research is all based on the flat-world assumption. However, the actual road can be complex with steep sections, which breaks the premise. Current methods…

In this paper, we present a novel method for self-supervised fine-tuning of pose estimation. Leveraging zero-shot pose estimation, our approach enables the robot to automatically obtain training data without manual labeling. After pose…

We propose a method for 6DoF pose estimation of rigid objects that uses a state-of-the-art deep learning based instance detector to segment object instances in an RGB image, followed by a point-pair based voting method to recover the…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…

In this paper, we show the surprisingly good properties of plain vision transformers for body pose estimation from various aspects, namely simplicity in model structure, scalability in model size, flexibility in training paradigm, and…

Object pose estimation enables a variety of tasks in computer vision and robotics, including scene understanding and robotic grasping. The complexity of a pose estimation task depends on the unknown variables related to the target object.…

We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…

6D object pose estimation holds essential roles in various fields, particularly in the grasping of industrial workpieces. Given challenges like rust, high reflectivity, and absent textures, this paper introduces a point cloud based pose…

We present a zero-shot deformation reconstruction framework for soft robots that operates without any visual supervision at inference time. In this work, zero-shot deformation reconstruction is defined as the ability to infer object-wide…