{"id":"https://openalex.org/W4410558017","doi":"https://doi.org/10.1007/s10015-025-01026-0","title":"6D NewtonianVAE: 6-DoF object pose estimation and control method for robotic tasks via learning from multi-view visual information","display_name":"6D NewtonianVAE: 6-DoF object pose estimation and control method for robotic tasks via learning from multi-view visual information","publication_year":2025,"publication_date":"2025-05-21","ids":{"openalex":"https://openalex.org/W4410558017","doi":"https://doi.org/10.1007/s10015-025-01026-0"},"language":"en","primary_location":{"id":"doi:10.1007/s10015-025-01026-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10015-025-01026-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10015-025-01026-0.pdf","source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10015-025-01026-0.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014241440","display_name":"Mikihiko Terashima","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Mai Terashima","raw_affiliation_strings":["Graduate School of Information Science and Engineering, Ritsumeikan University, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Engineering, Ritsumeikan University, Osaka, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068383548","display_name":"Ryo Okumura","orcid":null},"institutions":[{"id":"https://openalex.org/I1283155146","display_name":"Panasonic (Japan)","ror":"https://ror.org/011tm7n37","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283155146"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo Okumura","raw_affiliation_strings":["Digital&AI Technology Center, Technology Division, Panasonic Holdings Corporation, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Digital&AI Technology Center, Technology Division, Panasonic Holdings Corporation, Osaka, Japan","institution_ids":["https://openalex.org/I1283155146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089225173","display_name":"Pedro Miguel Uriguen Eljuri","orcid":"https://orcid.org/0000-0001-7413-0463"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]},{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Pedro Miguel Uriguen Eljuri","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I39012071","https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026751044","display_name":"Katsuyoshi Maeyama","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Katsuyoshi Maeyama","raw_affiliation_strings":["Graduate School of Information Science and Engineering, Ritsumeikan University, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Engineering, Ritsumeikan University, Osaka, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100669026","display_name":"Yuanyuan Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]},{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuanyuan Jia","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I39012071","https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023160093","display_name":"Tadahiro Taniguchi","orcid":"https://orcid.org/0000-0002-5682-2076"},"institutions":[{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]},{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadahiro Taniguchi","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I39012071","https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5014241440"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12144495,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"30","issue":"3","first_page":"472","last_page":"483"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9840999841690063,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8239893913269043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.725368857383728},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7252945899963379},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.724493682384491},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6921268701553345},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5641226172447205}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8239893913269043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.725368857383728},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7252945899963379},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.724493682384491},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6921268701553345},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5641226172447205}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10015-025-01026-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10015-025-01026-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10015-025-01026-0.pdf","source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10015-025-01026-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10015-025-01026-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10015-025-01026-0.pdf","source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G146832710","display_name":null,"funder_award_id":"JPMJMS2033","funder_id":"https://openalex.org/F4320338247","funder_display_name":"Moonshot Research and Development Program"},{"id":"https://openalex.org/G5543296614","display_name":null,"funder_award_id":"JPMJMS20","funder_id":"https://openalex.org/F4320338247","funder_display_name":"Moonshot Research and Development Program"}],"funders":[{"id":"https://openalex.org/F4320323289","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03"},{"id":"https://openalex.org/F4320338247","display_name":"Moonshot Research and Development Program","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4410558017.pdf","grobid_xml":"https://content.openalex.org/works/W4410558017.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1969868017","https://openalex.org/W2044197961","https://openalex.org/W2116064496","https://openalex.org/W2124386111","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2747329762","https://openalex.org/W2962783853","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W3089668137","https://openalex.org/W3096597946","https://openalex.org/W3099587965","https://openalex.org/W3133557228","https://openalex.org/W3138516171","https://openalex.org/W3173693019","https://openalex.org/W3200610390","https://openalex.org/W3202538459","https://openalex.org/W4292428501","https://openalex.org/W4312342945","https://openalex.org/W4316669391","https://openalex.org/W4382138711","https://openalex.org/W4385430674","https://openalex.org/W4387525134","https://openalex.org/W4389666592","https://openalex.org/W6600755281","https://openalex.org/W6601550006"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"study,":[3],"we":[4,78],"propose":[5,79],"a":[6,10,27,45,128],"method":[7,114],"for":[8,160],"learning":[9],"latent":[11,22,46,62,85,95],"space":[12,23,47,86,96],"representing":[13,97],"6-DoF":[14,18,70,98,102,116,135,147],"poses":[15,99],"and":[16,51,73,100,124,150,166,174],"performing":[17],"control":[19,54,74,103,117,136,151],"in":[20,127,140],"the":[21,39,42,57,61,84,89,94,106,158],"using":[24,75],"NewtonianVAE.":[25,76],"NewtonianVAE,":[26,81],"type":[28],"of":[29,41],"world":[30],"models":[31],"based":[32,55,104],"on":[33,56,60,105,169],"Variational":[34],"Autoencoder":[35],"(VAE),":[36],"can":[37],"learn":[38],"dynamics":[40],"environment":[43],"as":[44],"from":[48],"observational":[49],"data":[50,165],"perform":[52,101],"proportional":[53],"estimated":[58,107],"position":[59],"space.":[63],"However,":[64],"previous":[65],"research":[66],"has":[67],"not":[68],"demonstrated":[69],"pose":[71,148],"estimation":[72,149],"Therefore,":[77],"6D":[80],"which":[82],"extends":[83],"by":[87],"incorporating":[88],"rotation":[90],"vector":[91],"to":[92],"construct":[93],"poses.":[108],"Experimental":[109],"results":[110],"showed":[111],"that":[112,134],"our":[113],"achieves":[115],"with":[118],"an":[119],"accuracy":[120],"within":[121],"7":[122],"mm":[123],"0.02":[125],"rad":[126],"real-world.":[129],"It":[130,155],"was":[131],"also":[132,156],"shown":[133],"is":[137],"possible":[138],"even":[139],"unseen":[141],"environments.":[142],"Our":[143],"approach":[144],"enables":[145],"end-to-end":[146],"without":[152],"annotated":[153],"data.":[154],"eliminates":[157],"need":[159],"RGB-D":[161],"or":[162],"point":[163],"cloud":[164],"relies":[167],"solely":[168],"RGB":[170],"images,":[171],"reducing":[172],"implementation":[173],"computational":[175],"costs.":[176]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
