3 papers
cs.RO2026
Simulation-Ready Cluttered Scene Estimation via Physics-aware Joint Shape and Pose Optimization
Wei-Cheng Huang, Jiaheng Han, Xiaohan Ye +2
Estimating simulation-ready scenes from real-world observations is crucial for downstream planning and policy learning tasks. Regretfully, existing methods struggle in cluttered en…
cs.RO2025
Map Space Belief Prediction for Manipulation-Enhanced Mapping
Joao Marcos Correia Marques, Nils Dengler, Tobias Zaenker +4
Searching for objects in cluttered environments requires selecting efficient viewpoints and manipulation actions to remove occlusions and reduce uncertainty in object locations, sh…
cs.RO2025
Safe Leaf Manipulation for Accurate Shape and Pose Estimation of Occluded Fruits
Shaoxiong Yao, Sicong Pan, Maren Bennewitz +1
Fruit monitoring plays an important role in crop management, and rising global fruit consumption combined with labor shortages necessitates automated monitoring with robots. Howeve…