# MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile Feedback

arXiv: https://arxiv.org/abs/2305.14204 · HTML: https://mlsanity.com/paper/2305.14204/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 May 2023.

## Built on by (most cited first, 2 of 2)

- [PoCo: Policy Composition from and for Heterogeneous Robot Learning](https://mlsanity.com/paper/2402.02511/) (2024)
- [ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation](https://mlsanity.com/paper/2506.12239/) (2025)

## Abstract (arXiv)

In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional contact interactions between the grasped objects. As part of our method, we propose 1) a tool segmentation routine that facilitates contact location and object pose estimation, 2) a loss that allows reasoning over solution consistency between interactions, and 3) a loss to promote converging to object poses and contact locations that explain the external force-torque experienced by each arm. We demonstrate the efficacy of our method in a task-based demonstration both in simulation and on a real-world bimanual platform and show significant improvement in object pose estimation over single interactions. Visit www.mmintlab.com/multiscope/ for code and videos.