{"id":"https://openalex.org/W3159513277","doi":"https://doi.org/10.1109/icra48506.2021.9560874","title":"ZePHyR: Zero-shot Pose Hypothesis Rating","display_name":"ZePHyR: Zero-shot Pose Hypothesis Rating","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3159513277","doi":"https://doi.org/10.1109/icra48506.2021.9560874","mag":"3159513277"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560874","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2104.13526","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021481740","display_name":"Brian Okorn","orcid":"https://orcid.org/0000-0001-8092-1288"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Brian Okorn","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,15213","Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068721714","display_name":"Qiao Gu","orcid":"https://orcid.org/0000-0002-1342-3307"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qiao Gu","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,15213","Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075246991","display_name":"Martial Hebert","orcid":"https://orcid.org/0000-0003-4566-5930"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martial Hebert","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,15213","Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037048516","display_name":"David Held","orcid":"https://orcid.org/0000-0003-0537-1508"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Held","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,15213","Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5021481740"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04380751,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14141","last_page":"14148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9819999933242798,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7721149921417236},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7713680267333984},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7637637853622437},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6716518402099609},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5944027304649353},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5651311874389648},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5401910543441772},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.5087071061134338},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.47162532806396484},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4373219609260559},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4342436194419861},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4206621050834656},{"id":"https://openalex.org/keywords/retraining","display_name":"Retraining","score":0.4170553684234619},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4168879985809326},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.34854856133461},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11888575553894043}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7721149921417236},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7713680267333984},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7637637853622437},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6716518402099609},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5944027304649353},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5651311874389648},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5401910543441772},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.5087071061134338},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.47162532806396484},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4373219609260559},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4342436194419861},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4206621050834656},{"id":"https://openalex.org/C2778712577","wikidata":"https://www.wikidata.org/wiki/Q3505966","display_name":"Retraining","level":2,"score":0.4170553684234619},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4168879985809326},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.34854856133461},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11888575553894043},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C155202549","wikidata":"https://www.wikidata.org/wiki/Q178803","display_name":"International trade","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9560874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560874","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2104.13526","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.13526","pdf_url":"https://arxiv.org/pdf/2104.13526","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3159513277","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2104.13526.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2104.13526","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2104.13526","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2104.13526","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.13526","pdf_url":"https://arxiv.org/pdf/2104.13526","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2106085477","display_name":null,"funder_award_id":"IIS-1849154","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4194901063","display_name":"S&AS: FND: Uncertainty-Aware Safe Deep Reinforcement Learning","funder_award_id":"1849154","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4215626907","display_name":null,"funder_award_id":"FA8750-18-C-009","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G4713059963","display_name":null,"funder_award_id":"FA8750","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G4895191527","display_name":null,"funder_award_id":"FA8750-18-C-0092","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G8224441808","display_name":null,"funder_award_id":"NSTRF","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320329803","display_name":"LG Electronics","ror":"https://ror.org/03ddh2c27"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320332467","display_name":"U.S. Air Force","ror":"https://ror.org/006gmme17"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3159513277.pdf","grobid_xml":"https://content.openalex.org/works/W3159513277.grobid-xml"},"referenced_works_count":72,"referenced_works":["https://openalex.org/W70651934","https://openalex.org/W132147841","https://openalex.org/W1505952289","https://openalex.org/W1519402791","https://openalex.org/W1526868886","https://openalex.org/W1836465849","https://openalex.org/W1994349244","https://openalex.org/W2000760692","https://openalex.org/W2049981393","https://openalex.org/W2058761328","https://openalex.org/W2085261163","https://openalex.org/W2085334966","https://openalex.org/W2101199297","https://openalex.org/W2104572712","https://openalex.org/W2124386111","https://openalex.org/W2126496149","https://openalex.org/W2139146597","https://openalex.org/W2161168419","https://openalex.org/W2161819990","https://openalex.org/W2194775991","https://openalex.org/W2411094379","https://openalex.org/W2412515392","https://openalex.org/W2468062401","https://openalex.org/W2556455135","https://openalex.org/W2560609797","https://openalex.org/W2563125002","https://openalex.org/W2887599887","https://openalex.org/W2888752296","https://openalex.org/W2903284225","https://openalex.org/W2925241625","https://openalex.org/W2927673689","https://openalex.org/W2950812781","https://openalex.org/W2951738103","https://openalex.org/W2962783853","https://openalex.org/W2963121255","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963271314","https://openalex.org/W2963338349","https://openalex.org/W2963675327","https://openalex.org/W2963892972","https://openalex.org/W2964121744","https://openalex.org/W2964333597","https://openalex.org/W2964779621","https://openalex.org/W2970399728","https://openalex.org/W2981117175","https://openalex.org/W2981854237","https://openalex.org/W3009516594","https://openalex.org/W3024927944","https://openalex.org/W3029330586","https://openalex.org/W3034573608","https://openalex.org/W3034712732","https://openalex.org/W3092774272","https://openalex.org/W3100052745","https://openalex.org/W3101102451","https://openalex.org/W6605377543","https://openalex.org/W6630201400","https://openalex.org/W6680399253","https://openalex.org/W6714652476","https://openalex.org/W6735463952","https://openalex.org/W6739778489","https://openalex.org/W6750429153","https://openalex.org/W6754677871","https://openalex.org/W6760546089","https://openalex.org/W6763422710","https://openalex.org/W6764306722","https://openalex.org/W6766284323","https://openalex.org/W6770028333","https://openalex.org/W6776966486","https://openalex.org/W6782856899","https://openalex.org/W6785056413"],"related_works":["https://openalex.org/W3207966761","https://openalex.org/W2967681060","https://openalex.org/W3198794961","https://openalex.org/W2990248992","https://openalex.org/W2605407382","https://openalex.org/W3101338131","https://openalex.org/W2950722529","https://openalex.org/W1526868886","https://openalex.org/W3013928509","https://openalex.org/W2968207420","https://openalex.org/W3061410621","https://openalex.org/W2006885301","https://openalex.org/W3127909800","https://openalex.org/W2339851878","https://openalex.org/W3002801087","https://openalex.org/W1796874973","https://openalex.org/W3090445473","https://openalex.org/W3093144786","https://openalex.org/W3190988267","https://openalex.org/W3209721516"],"abstract_inverted_index":{"Pose":[0],"estimation":[1,34,72],"is":[2],"a":[3,65,78,85,89,108,156,159],"basic":[4],"module":[5],"in":[6,16,73,127],"many":[7],"robot":[8],"manipulation":[9],"pipelines.":[10],"Estimating":[11],"the":[12,17,46,179],"pose":[13,33,71,171,180],"of":[14,110,158,181],"objects":[15,95,126,183],"environment":[18],"can":[19,148,163,190],"be":[20,149,165,191],"useful":[21],"for":[22,32,50,68,98,170],"grasping,":[23],"motion":[24],"planning,":[25],"or":[26,42],"manipulation.":[27],"However,":[28],"current":[29],"state-of-the-art":[30],"methods":[31,52,138],"either":[35],"rely":[36],"on":[37,87,118,139,193],"large":[38],"annotated":[39],"training":[40,48],"sets":[41],"simulated":[43],"data.":[44],"Further,":[45],"long":[47],"times":[49],"these":[51,61],"prohibit":[53],"quick":[54],"interaction":[55],"with":[56,84,121],"novel":[57,66,160,182],"objects.":[58],"To":[59],"address":[60],"issues,":[62],"we":[63],"introduce":[64],"method":[67,117,134,169],"zero-shot":[69,102],"object":[70],"clutter.":[74],"Our":[75,173],"approach":[76],"uses":[77],"hypothesis":[79],"generation":[80],"and":[81,124,130,154],"scoring":[82,90],"framework,":[83],"focus":[86],"learning":[88],"function":[91,109],"that":[92,132],"generalizes":[93],"to":[94,177],"not":[96],"used":[97,150,166],"training.":[99],"We":[100,114,142],"achieve":[101],"generalization":[103],"by":[104,151,167],"rating":[105],"hypotheses":[106],"as":[107],"unordered":[111],"point":[112],"differences.":[113],"evaluate":[115],"our":[116,133,146,168,194],"challenging":[119],"datasets":[120],"both":[122],"textured":[123],"untextured":[125],"cluttered":[128],"scenes":[129],"demonstrate":[131,144],"significantly":[135],"outperforms":[136],"previous":[137],"this":[140],"task.":[141],"also":[143],"how":[145],"system":[147],"quickly":[152],"scanning":[153],"building":[155],"model":[157],"object,":[161],"which":[162],"immediately":[164],"estimation.":[172],"work":[174],"allows":[175],"users":[176],"estimate":[178],"without":[184],"requiring":[185],"any":[186],"retraining.":[187],"Additional":[188],"information":[189],"found":[192],"website":[195],"https://bokorn.github.io/zephyr/":[196]},"counts_by_year":[],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
