3 papers
cs.RO2026
Failure Identification in Imitation Learning Via Statistical and Semantic Filtering
Quentin Rolland, Fabrice Mayran de Chamisso, Jean-Baptiste Mouret
Imitation learning (IL) policies in robotics deliver strong performance in controlled settings but remain brittle in real-world deployments: rare events such as hardware faults, de…
cs.CV2025
Corr2Distrib: Making Ambiguous Correspondences an Ally to Predict Reliable 6D Pose Distributions
Asma Brazi, Boris Meden, Fabrice Mayran de Chamisso +2
We introduce Corr2Distrib, the first correspondence-based method which estimates a 6D camera pose distribution from an RGB image, explaining the observations. Indeed, symmetries an…
cs.CV2024
BOP-Distrib: Revisiting 6D Pose Estimation Benchmarks for Better Evaluation under Visual Ambiguities
Boris Meden, Asma Brazi, Fabrice Mayran de Chamisso +2
6D pose estimation aims at determining the object pose that best explains the camera observation. The unique solution for non-ambiguous objects can turn into a multi-modal pose dis…