Ayako Amma — accepted AI-conference papers

2025

ZeroGrasp: Zero-Shot Shape Reconstruction Enabled Robotic Grasping

Shun Iwase, Muhammad Zubair Irshad, Katherine Liu, Vitor Guizilini, Robert Lee, Takuya Ikeda +5

CVPR 2025poster

Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these issues, we introduce ZeroGrasp, a novel framework that simulta…

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2022

Sim2Real Instance-Level Style Transfer for 6D Pose Estimation

Takuya Ikeda, Suomi Tanishige, Ayako Amma, Michael Sudano, Hervé Audren, Koichi Nishiwaki

IROS 2022poster

In recent years, synthetic data has been widely used in the training of 6D pose estimation networks, in part because it automatically provides perfect annotation at low cost. However, there are still non-trivial domain gaps, such as differences in textures/materials, between synthetic and real data.…

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