3 papers
cs.RO2025
Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise
Sangli Teng, Harry Zhang, David Jin +4
Designing optimal Bayes filters for nonlinear non-Gaussian systems is a challenging task. The main difficulties are: 1) representing complex beliefs, 2) handling non-Gaussian noise…
cs.CV2024
CUPS: Improving Human Pose-Shape Estimators with Conformalized Deep Uncertainty
Harry Zhang, Luca Carlone
We introduce CUPS, a novel method for learning sequence-to-sequence 3D human shapes and poses from RGB videos with uncertainty quantification. To improve on top of prior work, we d…
cs.CV2024
CRISP: Object Pose and Shape Estimation with Test-Time Adaptation
Jingnan Shi, Rajat Talak, Harry Zhang +2
We consider the problem of estimating object pose and shape from an RGB-D image. Our first contribution is to introduce CRISP, a category-agnostic object pose and shape estimation…