We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time ...
Abstract: Estimating the 6D pose of rigid objects is a critical upstream task in many robotics applications. Most existing methods rely on RGB or RGB-D sensing modalities, which suffer from ...
Abstract: The generalisation to unseen objects in the 6D pose estimation task is very challenging. While Vision-Language Models (VLMs) enable using natural language descriptions to support 6D pose ...
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