Cover Image

SCOPE: Semantic Conditioning for Sim2Real Category-Level Object Pose Estimation in Robotics

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Hönig, Peter, Thalhammer, Stefan, Weibel, Jean-Baptiste, Hirschmanner, Matthias, Vincze, Markus
Format:	Preprint
Published:	2025
Subjects:	Computer Vision and Pattern Recognition Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Category-Level and Open-Set Object Pose Estimation for Robotics
by: Hönig, Peter, et al.
Published: (2025)

Shape-biased Texture Agnostic Representations for Improved Textureless and Metallic Object Detection and 6D Pose Estimation
by: Hönig, Peter, et al.
Published: (2024)

Challenges for Monocular 6D Object Pose Estimation in Robotics
by: Thalhammer, Stefan, et al.
Published: (2023)

Enhancing Transparent Object Pose Estimation: A Fusion of GDR-Net and Edge Detection
by: Pulli, Tessa, et al.
Published: (2025)

OSCAR: Open-Set CAD Retrieval from a Language Prompt and a Single Image
by: Pulli, Tessa, et al.
Published: (2026)

ReFlow6D: Refraction-Guided Transparent Object 6D Pose Estimation via Intermediate Representation Learning
by: Gupta, Hrishikesh, et al.
Published: (2024)

Improving 2D-3D Dense Correspondences with Diffusion Models for 6D Object Pose Estimation
by: Hönig, Peter, et al.
Published: (2024)

From Words to Poses: Enhancing Novel Object Pose Estimation with Vision Language Models
by: Pulli, Tessa, et al.
Published: (2024)

Sim2Real Transfer for Vision-Based Grasp Verification
by: Amargant, Pau, et al.
Published: (2025)

LLM-Empowered Embodied Agent for Memory-Augmented Task Planning in Household Robotics
by: Glocker, Marc, et al.
Published: (2025)

Diffusion Features for Zero-Shot 6DoF Object Pose Estimation
by: Von Gimborn, Bernd, et al.
Published: (2024)

ComPose: A Unified Completion-Pose Framework for Robust Category-Level Object Pose Estimation
by: Ren, Huan, et al.
Published: (2026)

MK-Pose: Category-Level Object Pose Estimation via Multimodal-Based Keypoint Learning
by: Yang, Yifan, et al.
Published: (2025)

Category-Level Object Shape and Pose Estimation in Less Than a Millisecond
by: Shaikewitz, Lorenzo, et al.
Published: (2025)

DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimation
by: Ikeda, Takuya, et al.
Published: (2024)

Sim2Real Instance-Level Style Transfer for 6D Pose Estimation
by: Ikeda, Takuya, et al.
Published: (2022)

You Only Estimate Once: Unified, One-stage, Real-Time Category-level Articulated Object 6D Pose Estimation for Robotic Grasping
by: Huang, Jingshun, et al.
Published: (2025)

OV9D: Open-Vocabulary Category-Level 9D Object Pose and Size Estimation
by: Cai, Junhao, et al.
Published: (2024)

Learning Point Cloud Representations with Pose Continuity for Depth-Based Category-Level 6D Object Pose Estimation
by: Li, Zhujun, et al.
Published: (2025)

MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Model
by: Liu, Jian, et al.
Published: (2025)

Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation
by: Liu, Jian, et al.
Published: (2025)

RFM-Pose:Reinforcement-Guided Flow Matching for Fast Category-Level 6D Pose Estimation
by: He, Diya, et al.
Published: (2026)

ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation
by: Lee, Jayjun, et al.
Published: (2025)

GarmentTracking: Category-Level Garment Pose Tracking
by: Xue, Han, et al.
Published: (2023)

Real-time Holistic Robot Pose Estimation with Unknown States
by: Ban, Shikun, et al.
Published: (2024)

CtRNet-X: Camera-to-Robot Pose Estimation in Real-world Conditions Using a Single Camera
by: Lu, Jingpei, et al.
Published: (2024)

Benchmarking the Effects of Object Pose Estimation and Reconstruction on Robotic Grasping Success
by: Burde, Varun, et al.
Published: (2026)

You Only Pose Once: A Minimalist's Detection Transformer for Monocular RGB Category-level 9D Multi-Object Pose Estimation
by: Lee, Hakjin, et al.
Published: (2025)

ShapeICP: Iterative Category-level Object Pose and Shape Estimation from Depth
by: Zhang, Yihao, et al.
Published: (2024)

Test-Time Certifiable Self-Supervision to Bridge the Sim2Real Gap in Event-Based Satellite Pose Estimation
by: Jawaid, Mohsi, et al.
Published: (2024)

FoundPose: Unseen Object Pose Estimation with Foundation Features
by: Örnek, Evin Pınar, et al.
Published: (2023)

Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integration
by: Liu, Jian, et al.
Published: (2025)

SurgPose: a Dataset for Articulated Robotic Surgical Tool Pose Estimation and Tracking
by: Wu, Zijian, et al.
Published: (2025)

SpyroPose: SE(3) Pyramids for Object Pose Distribution Estimation
by: Haugaard, Rasmus Laurvig, et al.
Published: (2023)

ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Robotics
by: Yu, Qiaojun, et al.
Published: (2024)

Uncertainty Quantification for Visual Object Pose Estimation
by: Shaikewitz, Lorenzo, et al.
Published: (2025)

Object Pose Estimation through Dexterous Touch
by: Shahidzadeh, Amir-Hossein, et al.
Published: (2025)

Detection, Recognition and Pose Estimation of Tabletop Objects
by: Nirgude, Sanjuksha, et al.
Published: (2024)

ContactArt: Learning 3D Interaction Priors for Category-level Articulated Object and Hand Poses Estimation
by: Zhu, Zehao, et al.
Published: (2023)

Efficient Surgical Robotic Instrument Pose Reconstruction in Real World Conditions Using Unified Feature Detection
by: Liang, Zekai, et al.
Published: (2025)