262 citations · 503 across the 32 of their papers we have counts for
36 papers
RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
Jenai Xuning Yang, Rishit Dagli, Alex Zook +5
The pursuit of general-purpose robotics has yielded impressive foundation models, yet simulation-based benchmarking remains a bottleneck due to rapid performance saturation and a l…
BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimation
Van Nguyen Nguyen, Stephen Tyree, Andrew Guo +16
We present the evaluation methodology, datasets and results of the BOP Challenge 2024, the 6th in a series of public competitions organized to capture the state of the art in 6D ob…
Diff-DOPE: Differentiable Deep Object Pose Estimation
Jonathan Tremblay, Bowen Wen, Valts Blukis +3
We introduce Diff-DOPE, a 6-DoF pose refiner that takes as input an image, a 3D textured model of an object, and an initial pose of the object. The method uses differentiable rende…
HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions
Andrew Guo, Bowen Wen, Jianhe Yuan +4
We present the HANDAL dataset for category-level object pose estimation and affordance prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects t…
Partial-View Object View Synthesis via Filtered Inversion
Fan-Yun Sun, Jonathan Tremblay, Valts Blukis +11
We propose Filtering Inversion (FINV), a learning framework and optimization process that predicts a renderable 3D object representation from one or few partial views. FINV address…
TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation
Taeyeop Lee, Jonathan Tremblay, Valts Blukis +6
Test-time adaptation methods have been gaining attention recently as a practical solution for addressing source-to-target domain gaps by gradually updating the model without requir…