相关论文: Diffusion-based Inverse Model of a Distributed Tac…

Contact-based estimation of object pose is challenging due to discontinuities and ambiguous observations that can correspond to multiple possible system states. This multimodality makes it difficult to efficiently sample valid hypotheses…

Pose estimation refers to tracking a human's full body posture, including their head, torso, arms, and legs. The problem is challenging in practical settings where the number of body sensors are limited. Past work has shown promising…

Given sparse views of a 3D object, estimating their camera poses is a long-standing and intractable problem. Toward this goal, we consider harnessing the pre-trained diffusion model of novel views conditioned on viewpoints (Zero-1-to-3). We…

Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional methods for pose estimation using tactile data often rely on…

Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…

In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation from the first touch for known objects. Given the object geometry, we learn a tailored perception model in simulation that estimates a probability…

In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…

In this paper, we present an approach to tactile pose estimation from the first touch for known objects. First, we create an object-agnostic map from real tactile observations to contact shapes. Next, for a new object with known geometry,…

Denoising diffusion models are a powerful type of generative models used to capture complex distributions of real-world signals. However, their applicability is limited to scenarios where training samples are readily available, which is not…

Estimating the pose of objects from images is a crucial task of 3D scene understanding, and recent approaches have shown promising results on very large benchmarks. However, these methods experience a significant performance drop when…

Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…

Comparing images captured by disparate sensors is a common challenge in remote sensing. This requires image translation -- converting imagery from one sensor domain to another while preserving the original content. Denoising Diffusion…

Typical template-based object pose pipelines estimate the pose by retrieving the closest matching template and aligning it with the observed image. However, failure to retrieve the correct template often leads to inaccurate pose…

Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this…

In this paper, we address the Sim2Real gap in the field of vision-based tactile sensors for classifying object surfaces. We train a Diffusion Model to bridge this gap using a relatively small dataset of real-world images randomly collected…

We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…

Monocular 3D human pose estimation is quite challenging due to the inherent ambiguity and occlusion, which often lead to high uncertainty and indeterminacy. On the other hand, diffusion models have recently emerged as an effective tool for…

Simulating vision-based tactile sensors enables learning models for contact-rich tasks when collecting real world data at scale can be prohibitive. However, modeling the optical response of the gel deformation as well as incorporating the…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

Estimating camera poses is a fundamental task for 3D reconstruction and remains challenging given sparsely sampled views (<10). In contrast to existing approaches that pursue top-down prediction of global parametrizations of camera…