mlsanityData to 14 Oct 2026

Consensus-Driven Uncertainty for Robotic Grasping based on RGB Perception

arXiv 2506.20045 ↗First posted 24 Jun 2025cs.RO cs.CVcited by 0

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Abstract (arXiv)

Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high uncertainty. Even though object pose estimation improves and uncertainty quantification research continues to make strides, few studies have connected them to the downstream task of robotic grasping. We propose a method for training lightweight, deep networks to predict whether a grasp guided by an image-based pose estimate will succeed before that grasp is attempted. We generate training data for our networks via object pose estimation on real images and simulated grasping. We also find that, despite high object variability in grasping trials, networks benefit from training on all objects jointly, suggesting that a diverse variety of objects can nevertheless contribute to the same goal.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 36 of its 54 references that are in the map. First posted on arXiv 24 Jun 2025.

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36 of 54 references.

References · 36

  1. 2016Simple and Scalable Predictive Uncertainty Estimation using Deep Ensemblescited by 3,926
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  3. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
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  6. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 325
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  10. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  11. 2021Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenescited by 218
  12. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
24 more
  1. 2020BOP Challenge 2020 on 6D Object Localizationcited by 193
  2. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  3. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 148
  4. 2022SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusioncited by 127
  5. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 117
  6. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 116
  7. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 114
  8. 2019Self-supervised 6D Object Pose Estimation for Robot Manipulationcited by 101
  9. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  10. 2023BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objectscited by 70
  11. 2021Implicit-PDF: Non-Parametric Representation of Probability Distributions on the Rotation Manifoldcited by 65
  12. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Modelscited by 48
  13. 2020Hardware as Policy: Mechanical and Computational Co-Optimization using Deep Reinforcement Learningcited by 32
  14. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  15. 2022Neural Grasp Distance Fields for Robot Manipulationcited by 31
  16. 2022Neural Correspondence Field for Object Pose Estimationcited by 21
  17. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  18. 2020A Review on Object Pose Recovery: from 3D Bounding Box Detectors to Full 6D Pose Estimatorscited by 18
  19. 2020Fast Uncertainty Quantification for Deep Object Pose Estimationcited by 18
  20. 2023CheckerPose: Progressive Dense Keypoint Localization for Object Pose Estimation with Graph Neural Networkcited by 15
  21. 2023SpyroPose: SE(3) Pyramids for Object Pose Distribution Estimationcited by 14
  22. 2024Uncertainty Quantification with Deep Ensembles for 6D Object Pose Estimationcited by 9
  23. 2013A Compliant, Underactuated Hand for Robust Manipulationcited by 8
  24. 2024Robotic Task Success Evaluation Under Multi-modal Non-Parametric Object Pose Uncertaintycited by 4

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