Abstract: This paper addresses the problem of category-level pose estimation for articulated objects in robotic manipulation tasks. Recent works have shown promising results in estimating part pose ...

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 ...