{"id":"https://openalex.org/W4401414698","doi":"https://doi.org/10.1109/icra57147.2024.10611423","title":"RoboKeyGen: Robot Pose and Joint Angles Estimation via Diffusion-based 3D Keypoint Generation","display_name":"RoboKeyGen: Robot Pose and Joint Angles Estimation via Diffusion-based 3D Keypoint Generation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414698","doi":"https://doi.org/10.1109/icra57147.2024.10611423"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100752652","display_name":"Tian Yang","orcid":"https://orcid.org/0000-0003-0800-5810"},"institutions":[{"id":"https://openalex.org/I111483173","display_name":"King University","ror":"https://ror.org/01evb6z23","country_code":"US","type":"education","lineage":["https://openalex.org/I111483173"]},{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yang Tian","raw_affiliation_strings":["Peking University and National Key Laboratory for Multimedia Information Processing,CFCS, School of CS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University and National Key Laboratory for Multimedia Information Processing,CFCS, School of CS","institution_ids":["https://openalex.org/I111483173","https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103231833","display_name":"Jiyao Zhang","orcid":"https://orcid.org/0009-0009-6150-2788"},"institutions":[{"id":"https://openalex.org/I111483173","display_name":"King University","ror":"https://ror.org/01evb6z23","country_code":"US","type":"education","lineage":["https://openalex.org/I111483173"]},{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Jiyao Zhang","raw_affiliation_strings":["Peking University and National Key Laboratory for Multimedia Information Processing,CFCS, School of CS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University and National Key Laboratory for Multimedia Information Processing,CFCS, School of CS","institution_ids":["https://openalex.org/I111483173","https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085409382","display_name":"Guo-Wei Huang","orcid":"https://orcid.org/0000-0003-1901-4034"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guowei Huang","raw_affiliation_strings":["Huawei"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059575276","display_name":"Bin Wang","orcid":"https://orcid.org/0000-0003-4748-6426"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bin Wang","raw_affiliation_strings":["Huawei"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100413044","display_name":"Ping Wang","orcid":"https://orcid.org/0000-0002-7773-469X"},"institutions":[{"id":"https://openalex.org/I114772536","display_name":"Software Engineering Institute","ror":"https://ror.org/01xqjjn94","country_code":"US","type":"facility","lineage":["https://openalex.org/I114772536","https://openalex.org/I74973139"]},{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Ping Wang","raw_affiliation_strings":["Peking University,School of Software & Microelectronics and National Engineering Research Center for Software Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University,School of Software & Microelectronics and National Engineering Research Center for Software Engineering","institution_ids":["https://openalex.org/I114772536","https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020672335","display_name":"Jiangmiao Pang","orcid":"https://orcid.org/0000-0002-6711-9319"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiangmiao Pang","raw_affiliation_strings":["Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056150603","display_name":"Hao Dong","orcid":"https://orcid.org/0000-0002-7332-1505"},"institutions":[{"id":"https://openalex.org/I111483173","display_name":"King University","ror":"https://ror.org/01evb6z23","country_code":"US","type":"education","lineage":["https://openalex.org/I111483173"]},{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Hao Dong","raw_affiliation_strings":["Peking University and National Key Laboratory for Multimedia Information Processing,CFCS, School of CS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University and National Key Laboratory for Multimedia Information Processing,CFCS, School of CS","institution_ids":["https://openalex.org/I111483173","https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5375","last_page":"5381"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9987000226974487,"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":0.9965000152587891,"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/pose","display_name":"Pose","score":0.7983630895614624},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6890947818756104},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6725975871086121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6569502353668213},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6259585022926331},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5211013555526733},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.41487130522727966},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1231701672077179}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7983630895614624},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6890947818756104},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6725975871086121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6569502353668213},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6259585022926331},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5211013555526733},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.41487130522727966},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1231701672077179},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W146900863","https://openalex.org/W2157593358","https://openalex.org/W2194775991","https://openalex.org/W2397222277","https://openalex.org/W2471962767","https://openalex.org/W2612706635","https://openalex.org/W2962783853","https://openalex.org/W2963892972","https://openalex.org/W2981378444","https://openalex.org/W2990714382","https://openalex.org/W3108645709","https://openalex.org/W4213399710","https://openalex.org/W4285471655","https://openalex.org/W4286696412","https://openalex.org/W4312601209","https://openalex.org/W4313127332","https://openalex.org/W4381556781","https://openalex.org/W4387447989","https://openalex.org/W6653450765","https://openalex.org/W6679045638","https://openalex.org/W6681223297","https://openalex.org/W6682081119","https://openalex.org/W6683141412","https://openalex.org/W6739901393","https://openalex.org/W6755242307","https://openalex.org/W6761509595","https://openalex.org/W6765775151","https://openalex.org/W6770414487","https://openalex.org/W6779823529","https://openalex.org/W6780356707","https://openalex.org/W6783713337","https://openalex.org/W6784570191","https://openalex.org/W6786375611","https://openalex.org/W6795986329","https://openalex.org/W6803078664","https://openalex.org/W6839494825","https://openalex.org/W6847439691","https://openalex.org/W6850445063","https://openalex.org/W6851225979","https://openalex.org/W6853376612","https://openalex.org/W6855078992"],"related_works":["https://openalex.org/W4253893311","https://openalex.org/W3089306886","https://openalex.org/W2113785214","https://openalex.org/W2798721181","https://openalex.org/W3201205132","https://openalex.org/W4312694060","https://openalex.org/W4386075737","https://openalex.org/W4393563475","https://openalex.org/W1968716783","https://openalex.org/W2736638679"],"abstract_inverted_index":{"Estimating":[0],"robot":[1,14,33],"pose":[2,34],"and":[3,16,63,89,192,214],"joint":[4,25],"angles":[5,26],"is":[6,114],"significant":[7],"in":[8,57,216],"advanced":[9],"robotics,":[10],"enabling":[11],"applications":[12],"like":[13],"collaboration":[15],"online":[17],"hand-eye":[18],"calibration.":[19],"However,":[20],"the":[21,66,78,102,115,140,164,184,188,198,212],"introduction":[22],"of":[23,59,111,117,144,172],"unknown":[24],"makes":[27],"prediction":[28,80],"more":[29],"complex":[30],"than":[31],"simple":[32],"estimation,":[35],"due":[36],"to":[37,93,105,120,209],"its":[38],"higher":[39,194],"dimensionality.":[40],"Previous":[41],"methods":[42,126],"either":[43],"regress":[44],"3D":[45,121,154],"keypoints":[46,87,92,119,155,175],"directly":[47],"or":[48,61,137],"utilise":[49],"a":[50,73,152],"render&compare":[51,190],"strategy.":[52],"These":[53],"approaches":[54],"often":[55],"falter":[56,128],"terms":[58],"performance":[60,99],"efficiency":[62,103],"grapple":[64],"with":[65,131],"cross-camera":[67,160,204],"gap":[68],"problem.":[69],"This":[70,95],"paper":[71],"presents":[72],"novel":[74],"framework":[75],"that":[76,183],"bifurcates":[77],"high-dimensional":[79],"task":[81],"into":[82],"two":[83],"manageable":[84],"subtasks:":[85],"2D":[86,91,118,134,174],"detection":[88,135],"lifting":[90,116],"3D.":[94],"separation":[96],"promises":[97],"enhanced":[98],"without":[100],"sacrificing":[101],"innate":[104],"keypoint-based":[106],"techniques.":[107],"A":[108],"vital":[109],"component":[110],"our":[112,201],"method":[113,186,191],"keypoints.":[122],"Common":[123],"deterministic":[124],"regression":[125],"may":[127],"when":[129],"faced":[130],"uncertainties":[132],"from":[133],"errors":[136],"self-occlusions.":[138],"Leveraging":[139],"robust":[141,203],"modeling":[142],"potential":[143],"diffusion":[145],"models,":[146],"we":[147,162],"reframe":[148],"this":[149],"issue":[150],"as":[151],"conditional":[153],"generation":[156],"task.":[157],"To":[158],"bolster":[159],"adaptability,":[161],"introduce":[163],"Normalised":[165],"Camera":[166],"Coordinate":[167],"Space":[168],"(NCCS),":[169],"ensuring":[170],"alignment":[171],"estimated":[173],"across":[176],"varying":[177],"camera":[178],"intrinsics.":[179],"Experimental":[180],"results":[181],"demonstrate":[182],"proposed":[185],"outperforms":[187],"state-of-the-art":[189],"achieves":[193],"inference":[195],"speed.":[196],"Furthermore,":[197],"tests":[199],"accentuate":[200],"method\u2019s":[202],"generalisation":[205],"capabilities.":[206],"We":[207],"intend":[208],"release":[210],"both":[211],"dataset":[213],"code":[215],"https://nimolty.github.io/Robokeygen/.":[217]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}