FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

13 December 2023

Bowen Wen

Wei Yang

Jan Kautz

Stanley T. Birchfield

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Papers citing "FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects"

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Title
GLOVER++: Unleashing the Potential of Affordance Learning from Human Behaviors for Robotic Manipulation Teli Ma Jia Zheng Zifan Wang Ziyao Gao Jiaming Zhou Junwei Liang 2 0 0 17 May 2025
GTR: Gaussian Splatting Tracking and Reconstruction of Unknown Objects Based on Appearance and Geometric Complexity Takuya Ikeda Sergey Zakharov Muhammad Zubair Irshad Istvan Balazs Opra Shun Iwase ... Mark Tjersland Robert Lee Alexandre Dilly Rares Andrei Ambrus Koichi Nishiwaki 2 0 0 17 May 2025
MTevent: A Multi-Task Event Camera Dataset for 6D Pose Estimation and Moving Object Detection Shrutarv Awasthi Anas Gouda Sven Franke Jérôme Rutinowski Frank Hoffmann Moritz Roidl 12 0 0 16 May 2025
SurgPose: Generalisable Surgical Instrument Pose Estimation using Zero-Shot Learning and Stereo Vision Utsav Rai Haozheng Xu Stamatia Giannarou MedIm 13 0 0 16 May 2025
FoldNet: Learning Generalizable Closed-Loop Policy for Garment Folding via Keypoint-Driven Asset and Demonstration Synthesis Yuxing Chen Bowen Xiao H. Wang 26 0 0 14 May 2025
The First WARA Robotics Mobile Manipulation Challenge -- Lessons Learned David Cáceres-Domínguez M. Iannotta Abhishek Kashyap Shuo Sun Yuxuan Yang ... Zheng Jia Graziano Carriero Sofia Lindqvist Silvio Di Castro Matteo Iovino 33 0 0 11 May 2025
X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real Prithwish Dan Kushal Kedia Angela Chao Edward Weiyi Duan Maximus Adrian Pace Wei-Chiu Ma Sanjiban Choudhury 23 0 0 11 May 2025
FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation Yuyao Zhang Yifu Yuan Prajwal Gurunath Tairan He Shayegan Omidshafiei Ali-akbar Agha-mohammadi Marcell Vazquez-Chanlatte Liam Pedersen Guanya Shi 34 0 0 10 May 2025
Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation Zechu Li Yufeng Jin Daniel Felipe Ordoñez Apraez Claudio Semini Puze Liu Georgia Chalvatzaki 151 0 0 08 May 2025
One2Any: One-Reference 6D Pose Estimation for Any Object Mengya Liu Siyuan Li Ajad Chhatkuli Prune Truong Luc Van Gool Federico Tombari 37 0 0 07 May 2025
Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactions Hongyi Chen Yunchao Yao Yufei Ye Zhixuan Xu Homanga Bharadhwaj Jiashun Wang Shubham Tulsiani Zackory Erickson Jeffrey Ichnowski 33 0 0 07 May 2025
The Unreasonable Effectiveness of Discrete-Time Gaussian Process Mixtures for Robot Policy Learning Jan Ole von Hartz Adrian Rofer Joschka Boedecker Abhinav Valada 39 0 0 06 May 2025
A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI Lik Hang Kenny Wong Xueyang Kang Kaixin Bai Jianwei Zhang 56 0 0 01 May 2025
Multi-Goal Dexterous Hand Manipulation using Probabilistic Model-based Reinforcement Learning Yingzhuo Jiang Wenjun Huang Rongdun Lin Chenyang Miao Tianfu Sun Yunduan Cui 41 0 0 30 Apr 2025
PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking Xiatao Sun Yinxing Chen Daniel Rakita VGen 60 0 0 29 Apr 2025
PRISM: Projection-based Reward Integration for Scene-Aware Real-to-Sim-to-Real Transfer with Few Demonstrations Haowen Sun Haoran Wang Chengzhong Ma Shaolong Zhang Jiawei Ye Xingyu Chen Xuguang Lan OffRL 53 1 0 29 Apr 2025
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning Haoran Geng Feishi Wang Songlin Wei Y. Li Bangjun Wang ... Hao Dong Siyuan Huang Yue Wang Jitendra Malik Pieter Abbeel 85 4 0 26 Apr 2025
Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich Physics Bibit Bianchini Minghan Zhu Mengti Sun Bowen Jiang Camillo J. Taylor Michael Posa 26 0 0 25 Apr 2025
Beyond Task and Motion Planning: Hierarchical Robot Planning with General-Purpose Policies Benned Hedegaard Ziyi Yang Yichen Wei Ahmed Jaafar Stefanie Tellex George Konidaris Naman Shah 26 0 0 24 Apr 2025
PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation Wenxuan Li Hang Zhao Zhiyuan Yu Yu Du Qin Zou Ruizhen Hu K. Xu SSL 78 1 0 23 Apr 2025
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration Tyler Ga Wei Lum Olivia Y. Lee C. Karen Liu Jeannette Bohg 42 1 0 17 Apr 2025
ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation Hongyu Li James Akl Srinath Sridhar Tye Brady Taskin Padir 44 0 0 17 Apr 2025
CAP-Net: A Unified Network for 6D Pose and Size Estimation of Categorical Articulated Parts from a Single RGB-D Image Jingshun Huang Haitao Lin Tianyu Wang Yanwei Fu Xiangyang Xue Yichen Zhu 3DPC 45 0 0 15 Apr 2025
HUMOTO: A 4D Dataset of Mocap Human Object Interactions Jiaxin Lu Chun-Hao Paul Huang Uttaran Bhattacharya Qixing Huang Yi Zhou 42 0 0 14 Apr 2025
SCFlow2: Plug-and-Play Object Pose Refiner with Shape-Constraint Scene Flow Qingyuan Wang Rui Song Jiaojiao Li Kerui Cheng David Ferstl Yinlin Hu 3DPC 56 0 0 12 Apr 2025
BoxDreamer: Dreaming Box Corners for Generalizable Object Pose Estimation Yuanhong Yu Xingyi He He Chen Zhao Junhao Yu Jiaqi Yang Ruizhen Hu Yujun Shen Xing Zhu Xiaowei Zhou Sida Peng 26 0 0 10 Apr 2025
GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenes S. Back J. Lee Kangmin Kim Heeseon Rho Geonhyup Lee ... S. Lee Sangjun Noh Youngjin Lee Taeyeop Lee K. Lee 3DV 41 0 0 09 Apr 2025
RobustDexGrasp: Robust Dexterous Grasping of General Objects Hui Zhang Zijian Wu Linyi Huang Sammy Christen Jie Song 40 1 0 07 Apr 2025
Tool-as-Interface: Learning Robot Policies from Human Tool Usage through Imitation Learning Haonan Chen Cheng Zhu Yunzhu Li Katherine Driggs-Campbell 26 0 0 06 Apr 2025
BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimation Van Nguyen Nguyen Stephen Tyree Andrew Guo Mederic Fourmy Anas Gouda ... Stan Birchfield Jiri Matas Yann Labbé M. Sundermeyer Tomás Hodan 3DPC 58 1 0 03 Apr 2025
PicoPose: Progressive Pixel-to-Pixel Correspondence Learning for Novel Object Pose Estimation Lihua Liu Jiehong Lin Zhenxin Liu Kui Jia 45 0 0 03 Apr 2025
PhysPose: Refining 6D Object Poses with Physical Constraints Martin Malenický Martin Cífka Médéric Fourmy Louis Montaut Justin Carpentier Josef Sivic Vladimir Petrik 42 0 0 30 Mar 2025
Reasoning and Learning a Perceptual Metric for Self-Training of Reflective Objects in Bin-Picking with a Low-cost Camera Peiyuan Ni Chee Meng Chew Marcelo H. Ang Jr. Gregory S. Chirikjian 66 0 0 26 Mar 2025
DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarios Xiangting Meng Jiaqi Yang Mingshu Chen C. Yan Yujiao Shi Wenchao Ding L. Kneip 46 0 0 25 Mar 2025
Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand with Low-Resolution In-Hand Tactile Sensing Lukas Mack Felix Grüninger Benjamin A. Richardson Regine Lendway Katherine J. Kuchenbecker Joerg Stueckler 34 0 0 25 Mar 2025
Any6D: Model-free 6D Pose Estimation of Novel Objects Taeyeop Lee Bowen Wen Minjun Kang Gyuree Kang In So Kweon KuK-Jin Yoon 63 0 0 24 Mar 2025
Target-Aware Video Diffusion Models Taeksoo Kim Hanbyul Joo DiffM VGen 91 1 0 24 Mar 2025
Co-op: Correspondence-based Novel Object Pose Estimation Sungphill Moon Hyeontae Son Dongcheol Hur Sangwook Kim 3DH 63 1 0 22 Mar 2025
Distilling 3D distinctive local descriptors for 6D pose estimation Amir Hamza Andrea Caraffa Davide Boscaini Fabio Poiesi 49 0 0 19 Mar 2025
UniHOPE: A Unified Approach for Hand-Only and Hand-Object Pose Estimation Yinqiao Wang Hao Xu Pheng Ann Heng Chi-Wing Fu 3DH 53 0 0 17 Mar 2025
E-Values Expand the Scope of Conformal Prediction Etienne Gauthier Francis Bach Michael I. Jordan 47 0 0 17 Mar 2025
6D Object Pose Tracking in Internet Videos for Robotic Manipulation Georgy Ponimatkin Martin Cífka Tomáš Souček Médéric Fourmy Yann Labbé Vladimir Petrik Josef Sivic 52 1 0 13 Mar 2025
Elastic Motion Policy: An Adaptive Dynamical System for Robust and Efficient One-Shot Imitation Learning Tianyu Li Sunan Sun Shubhodeep Shiv Aditya Nadia Figueroa 58 0 0 11 Mar 2025
AxisPose: Model-Free Matching-Free Single-Shot 6D Object Pose Estimation via Axis Generation Yang Zou Zhaoshuai Qi Yating Liu Zihao Xu Weipeng Sun Weiyi Liu Xingyuan Li Jiaqi Yang Yanning Zhang 44 0 0 09 Mar 2025
Novel Object 6D Pose Estimation with a Single Reference View Jian Liu Wei Sun Kai Zeng Jin Zheng Hui Yang Lin Wang Hossein Rahmani Ajmal Mian 48 1 0 07 Mar 2025
Persistent Object Gaussian Splat (POGS) for Tracking Human and Robot Manipulation of Irregularly Shaped Objects Justin Yu Kush Hari Karim El-Refai Arnav Dalal J. Kerr C. Kim Richard Cheng Muhammad Zubair Irshad Ken Goldberg 56 3 0 07 Mar 2025
LensDFF: Language-enhanced Sparse Feature Distillation for Efficient Few-Shot Dexterous Manipulation Qian Feng David S. Martinez Lema Jianxiang Feng Zhaopeng Chen Alois C. Knoll 44 0 0 05 Mar 2025
HGDiffuser: Efficient Task-Oriented Grasp Generation via Human-Guided Grasp Diffusion Models Dehao Huang Wenlong Dong Chao Tang Hong Zhang 46 1 0 01 Mar 2025
The Role of Tactile Sensing for Learning Reach and Grasp Boya Zhang Iris Andrussow Andreas Zell Georg Martius 59 0 0 27 Feb 2025
Multi-Keypoint Affordance Representation for Functional Dexterous Grasping Fan Yang DongSheng Luo Wenrui Chen Jiacheng Lin Junjie Cai Kailun Yang Zehan Li Yaonan Wang 51 0 0 27 Feb 2025