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cs.RO2026
Geometrically Plausible Object Pose Refinement using Differentiable Simulation
Anil Zeybek, Rhys Newbury, Snehal Dikhale +3
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimat…
cs.RO2026
VisuoTactile 6D Pose Estimation of an In-Hand Object using Vision and Tactile Sensor Data
Snehal s. Dikhale, Karankumar Patel, Daksh Dhingra +4
Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's g…