7 accepted papers
Reliable depth perception is critical for robotic manipulation, especially for non-Lambertian objects such as transparent or highly specular surfaces, where raw depth measurements are often corrupted or missing. These failures frequently propagate to motion planning, resulting in invalid grasp poses
With the availability of egocentric 3D hand-object interaction datasets, there is increasing interest in developing unified models for hand-object pose estimation and action recognition. However, existing methods still struggle to recognise seen actions on unseen objects due to the limitations in re…
Robotic manipulation in unstructured environments requires systems that can generalize across diverse tasks while maintaining robust and reliable performance. We introduce GVF-TAPE, a closed-loop framework that combines generative visual foresight with task-agnostic pose estimation to enable scalabl…
Object pose refinement is essential for robust object pose estimation. Previous work has made significant progress towards instance-level object pose refinement. Yet category-level pose refinement is a more challenging problem due to large shape variations within a category and the discrepancies bet…
This paper studies the problem of extracting planar regions in uneven terrains from unordered point cloud measurements. Such a problem is critical in various robotic applications such as robotic perceptive locomotion. While existing approaches have shown promising results in effectively extracting p…
In this paper, we focus on the problem of category-level object pose estimation, which is challenging due to the large intra-category shape variation. 3D graph convolution (3D-GC) based methods have been widely used to extract local geometric features, but they have limitations for complex shaped ob…
Fast and accurate tracking of an object's motion is one of the key functionalities of a robotic system for achieving reliable interaction with the environment. This paper focuses on the instance-level six-dimensional (6D) pose tracking problem with a symmetric and textureless object under occlusion.…