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
Increasing the Task Flexibility of Heavy-Duty Manipulators Using Visual 6D Pose Estimation of Objects Petri Mäkinen Pauli Mustalahti Tuomo Kivelä Jouni Mattila 57 0 0 26 Feb 2025
FUNCTO: Function-Centric One-Shot Imitation Learning for Tool Manipulation Chao Tang Anxing Xiao Yuhong Deng Tianrun Hu Wenlong Dong Hanbo Zhang David Hsu Hong Zhang 73 2 0 24 Feb 2025
SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation Zekun Qi Wenyao Zhang Yufei Ding Runpei Dong Xinqiang Yu ... Xin Jin Kaisheng Ma Zhizheng Zhang He Wang Li Yi LM&Ro 131 4 0 18 Feb 2025
COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping Jun Yamada Alexander L. Mitchell Jack Collins Ingmar Posner OffRL 90 0 0 17 Feb 2025
HIPPo: Harnessing Image-to-3D Priors for Model-free Zero-shot 6D Pose Estimation Yibo Liu Zhaodong Jiang Binbin Xu Guile Wu Y. Ren Tongtong Cao Bingbing Liu Rui Heng Yang Amir Rasouli J. Shan 52 1 0 14 Feb 2025
Video2Policy: Scaling up Manipulation Tasks in Simulation through Internet Videos Weirui Ye Fangchen Liu Z. Ding Yang Gao Oleh Rybkin Pieter Abbeel VGen OffRL 88 3 0 14 Feb 2025
DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References Xueyi Liu Jianibieke Adalibieke Qianwei Han Yuzhe Qin Li Yi 74 3 0 13 Feb 2025
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards Shivansh Patel Xinchen Yin Wenlong Huang Shubham Garg H. Nayyeri Li Fei-Fei Svetlana Lazebnik Yong Li 92 0 0 12 Feb 2025
OmniManip: Towards General Robotic Manipulation via Object-Centric Interaction Primitives as Spatial Constraints Mingjie Pan Jiyao Zhang Tianshu Wu Yinghao Zhao Wenlong Gao Hao Dong LM&Ro 58 6 0 08 Jan 2025
SurgRIPE challenge: Benchmark of Surgical Robot Instrument Pose Estimation Haozheng Xu Alistair Weld Chi Xu Alfie Roddan João Cartucho ... Lucy Fothergill Dominic Jones Pietro Valdastri Duygu Sarikaya Stamatia Giannarou 35 1 0 06 Jan 2025
Universal Features Guided Zero-Shot Category-Level Object Pose Estimation Wentian Qu Chenyu Meng Heng Li Jian Cheng Cuixia Ma Hongan Wang Xiao Zhou Xiaoming Deng Ping Tan 38 0 0 06 Jan 2025
6DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splatting Yufeng Jin V. Prasad Snehal Jauhri Mathias Franzius Georgia Chalvatzaki 3DGS 92 0 0 02 Dec 2024
G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation Tianxing Chen Yao Mu Zhixuan Liang Z. Chen Shijia Peng ... Mingkun Xu R. Hu H. Zhang Xuelong Li Ping Luo AI4CE 107 8 0 27 Nov 2024
Depth-PC: A Visual Servo Framework Integrated with Cross-Modality Fusion for Sim2Real Transfer Haoyu Zhang Weiyang Lin Yimu Jiang Chao Ye 80 0 0 26 Nov 2024
Diffusion Features for Zero-Shot 6DoF Object Pose Estimation Bernd Von Gimborn P. Ausserlechner Markus Vincze S. Thalhammer DiffM 71 0 0 25 Nov 2024
UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Image Xingyu Liu Gu Wang Ruida Zhang Chenyangguang Zhang F. Tombari Xiangyang Ji 224 2 0 25 Nov 2024
FunGrasp: Functional Grasping for Diverse Dexterous Hands Linyi Huang Hui Zhang Zijian Wu Sammy Christen Jie Song 87 4 0 24 Nov 2024
Aim My Robot: Precision Local Navigation to Any Object Xiangyun Meng Xuning Yang Sanghun Jung F. Ramos Srid Sadhan Jujjavarapu Sanjoy Paul Dieter Fox 85 1 0 22 Nov 2024
Segment Anything in Light Fields for Real-Time Applications via Constrained Prompting Nikolai Goncharov Donald G. Dansereau VLM 75 1 0 21 Nov 2024
Object and Contact Point Tracking in Demonstrations Using 3D Gaussian Splatting Michael Büttner Jonathan M Francis Helge Rhodin Andrew Melnik 3DPC 48 0 0 05 Nov 2024
Out-of-Distribution Recovery with Object-Centric Keypoint Inverse Policy for Visuomotor Imitation Learning George Jiayuan Gao Tianyu Li Nadia Figueroa 43 0 0 05 Nov 2024
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation Cheng-Chun Hsu Bowen Wen Jie Xu Yashraj S. Narang Xiaolong Wang Yuke Zhu Joydeep Biswas Stan Birchfield DiffM 41 8 0 01 Nov 2024
SceneComplete: Open-World 3D Scene Completion in Complex Real World Environments for Robot Manipulation Aditya Agarwal Gaurav Singh Bipasha Sen Tomás Lozano-Pérez L. Kaelbling 3DV 51 3 0 31 Oct 2024
Synthetica: Large Scale Synthetic Data for Robot Perception Ritvik Singh Jingzhou Liu Karl Van Wyk Yu-Wei Chao Jean-Francois Lafleche Florian Shkurti Nathan D. Ratliff Ankur Handa 33 1 0 28 Oct 2024
VLMimic: Vision Language Models are Visual Imitation Learner for Fine-grained Actions Guanyan Chen Hao Wu Te Cui Yao Mu Haoyang Lu ... Mengxiao Hu Haizhou Li Y. Li Yi Yang Yufeng Yue VLM 31 3 0 28 Oct 2024
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment Caelan Reed Garrett Ajay Mandlekar Bowen Wen Dieter Fox 33 12 0 24 Oct 2024
Versatile Demonstration Interface: Toward More Flexible Robot Demonstration Collection Michael Hagenow Dimosthenis Kontogiorgos Yanwei Wang Julie Shah 59 2 0 24 Oct 2024
Automated Planning Domain Inference for Task and Motion Planning Jinbang Huang Allen Tao Rozilyn Marco Miroslav Bogdanovic Jonathan Kelly Florian Shkurti 36 1 0 21 Oct 2024
MSGField: A Unified Scene Representation Integrating Motion, Semantics, and Geometry for Robotic Manipulation Yu Sheng Runfeng Lin Liwen Wang Quecheng Qiu Yanyong Zhang Yu Zhang Bei Hua Jianmin Ji 3DV 3DGS 31 0 0 21 Oct 2024
CLIMB: Language-Guided Continual Learning for Task Planning with Iterative Model Building Walker Byrnes Miroslav Bogdanovic Avi Balakirsky Stephen Balakirsky Animesh Garg LM&Ro 28 0 0 17 Oct 2024
Object Pose Estimation Using Implicit Representation For Transparent Objects Varun Burde Artem Moroz Vit Zeman Pavel Burget 31 0 0 17 Oct 2024
In-Context Learning Enables Robot Action Prediction in LLMs Yida Yin Zekai Wang Yuvan Sharma Dantong Niu Trevor Darrell Roei Herzig LM&Ro 117 1 0 16 Oct 2024
Affordance-Centric Policy Learning: Sample Efficient and Generalisable Robot Policy Learning using Affordance-Centric Task Frames Krishan Rana Jad Abou-Chakra Sourav Garg Robert Lee Ian Reid Niko Suenderhauf 24 4 0 15 Oct 2024
Enhancing Single Image to 3D Generation using Gaussian Splatting and Hybrid Diffusion Priors Hritam Basak Hadi Tabatabaee Shreekant Gayaka Ming-feng Li Xin Yang Cheng-Hao Kuo Arnie Sen Min Sun Zhaozheng Yin 3DGS 33 0 0 12 Oct 2024
Dessie: Disentanglement for Articulated 3D Horse Shape and Pose Estimation from Images Ci Li Yi Yang Zehang Weng Elin Hernlund Silvia Zuffi Hedvig Kjellström 31 3 0 04 Oct 2024
Autoregressive Action Sequence Learning for Robotic Manipulation Xinyu Zhang Yuhan Liu Haonan Chang Liam Schramm Abdeslam Boularias 41 10 0 04 Oct 2024
Pose Estimation of Buried Deep-Sea Objects using 3D Vision Deep Learning Models Jerry Yan Chinmay Talegaonkar Nicholas Antipa Eric Terrill Sophia Merrifield 3DPC 31 0 0 01 Oct 2024
iTeach: Interactive Teaching for Robot Perception using Mixed Reality Jishnu Jaykumar P Cole Salvato Vinaya Bomnale Jikai Wang Yu Xiang 49 0 0 01 Oct 2024
Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction Justin Kerr C. Kim Mingxuan Wu Brent Yi Qianqian Wang Ken Goldberg Angjoo Kanazawa 23 13 0 26 Sep 2024
DROP: Dexterous Reorientation via Online Planning Albert H. Li Preston Culbertson Vince Kurtz Aaron D. Ames 54 7 0 22 Sep 2024
Towards Robust Automation of Surgical Systems via Digital Twin-based Scene Representations from Foundation Models Hao Ding Lalithkumar Seenivasan Hongchao Shu Grayson Byrd Han Zhang Pu Xiao Juan Antonio Barragan Russell H. Taylor Peter Kazanzides Mathias Unberath 36 5 0 19 Sep 2024
Towards Global Localization using Multi-Modal Object-Instance Re-Identification Aneesh Chavan Vaibhav Agrawal Vineeth Bhat Sarthak Chittawar Siddharth Srivastava Chetan Arora K. M. Krishna 95 0 0 18 Sep 2024
ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching Niklas Funk Julen Urain João Carvalho V. Prasad Georgia Chalvatzaki Jan Peters 53 5 0 06 Sep 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation Wenlong Huang Chen Wang Yong Li Ruohan Zhang Li Fei-Fei 52 90 0 03 Sep 2024
Robo-GS: A Physics Consistent Spatial-Temporal Model for Robotic Arm with Hybrid Representation Haozhe Lou Yurong Liu Yike Pan Yiran Geng Jianteng Chen ... Lin Wang Hengzhen Feng Lu Shi Liyi Luo Yongliang Shi AI4CE 50 16 0 27 Aug 2024
InterTrack: Tracking Human Object Interaction without Object Templates Xianghui Xie J. E. Lenssen Gerard Pons-Moll 42 6 0 25 Aug 2024
Comparative Evaluation of 3D Reconstruction Methods for Object Pose Estimation Varun Burde Assia Benbihi Pavel Burget Torsten Sattler 32 1 0 15 Aug 2024
Exploring the Effectiveness of Object-Centric Representations in Visual Question Answering: Comparative Insights with Foundation Models Amir Mohammad Karimi Mamaghan Samuele Papa Karl Henrik Johansson Stefan Bauer Andrea Dittadi OCL 48 5 0 22 Jul 2024
Foundation Models for Autonomous Robots in Unstructured Environments Hossein Naderi Alireza Shojaei Lifu Huang LM&Ro 47 0 0 19 Jul 2024
F-HOI: Toward Fine-grained Semantic-Aligned 3D Human-Object Interactions Jie-jin Yang Xuesong Niu Nan Jiang Ruimao Zhang Siyuan Huang 30 9 0 17 Jul 2024