3 papers
cs.RO2024
RPMArt: Towards Robust Perception and Manipulation for Articulated Objects
Junbo Wang, Wenhai Liu, Qiaojun Yu +4
Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world roboti…
cs.CV2024
CPPF++: Uncertainty-Aware Sim2Real Object Pose Estimation by Vote Aggregation
Yang You, Wenhao He, Jin Liu +3
Object pose estimation constitutes a critical area within the domain of 3D vision. While contemporary state-of-the-art methods that leverage real-world pose annotations have demons…
cs.RO2024
ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Robotics
Qiaojun Yu, Ce Hao, Junbo Wang +6
Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and hand…