{"id":"https://openalex.org/W4405785669","doi":"https://doi.org/10.1109/iros58592.2024.10802487","title":"DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimation","display_name":"DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785669","doi":"https://doi.org/10.1109/iros58592.2024.10802487"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802487","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5102963090","display_name":"Takuya Ikeda","orcid":"https://orcid.org/0000-0002-3312-5120"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takuya Ikeda","raw_affiliation_strings":["Woven by Toyota,Tokyo,Japan,103-0022"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woven by Toyota,Tokyo,Japan,103-0022","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103896564","display_name":"Sergey Zakharov","orcid":null},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sergey Zakharov","raw_affiliation_strings":["Toyota Research Institute,Los Altos,CA,USA,94022"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute,Los Altos,CA,USA,94022","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034562879","display_name":"Tianyi Ko","orcid":"https://orcid.org/0000-0002-2576-9161"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tianyi Ko","raw_affiliation_strings":["Woven by Toyota,Tokyo,Japan,103-0022"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woven by Toyota,Tokyo,Japan,103-0022","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009075844","display_name":"Muhammad Zubair Irshad","orcid":"https://orcid.org/0000-0002-1955-6194"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Muhammad Zubair Irshad","raw_affiliation_strings":["Toyota Research Institute,Los Altos,CA,USA,94022"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute,Los Altos,CA,USA,94022","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039562009","display_name":"Robert Lee","orcid":"https://orcid.org/0000-0001-7535-3554"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Robert Lee","raw_affiliation_strings":["Woven by Toyota,Tokyo,Japan,103-0022"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woven by Toyota,Tokyo,Japan,103-0022","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103282038","display_name":"Katherine Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katherine Liu","raw_affiliation_strings":["Toyota Research Institute,Los Altos,CA,USA,94022"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute,Los Altos,CA,USA,94022","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037522398","display_name":"Rare\u015f Ambru\u015f","orcid":"https://orcid.org/0000-0002-3111-3812"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rares Ambrus","raw_affiliation_strings":["Toyota Research Institute,Los Altos,CA,USA,94022"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute,Los Altos,CA,USA,94022","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113446235","display_name":"Koichi Nishiwaki","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Koichi Nishiwaki","raw_affiliation_strings":["Woven by Toyota,Tokyo,Japan,103-0022"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woven by Toyota,Tokyo,Japan,103-0022","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.5347,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.96556882,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"7406","last_page":"7413"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9952999949455261,"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":0.9952999949455261,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9599000215530396,"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":0.9194999933242798,"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/modal","display_name":"Modal","score":0.7504298686981201},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5777215361595154},{"id":"https://openalex.org/keywords/symmetry","display_name":"Symmetry (geometry)","score":0.5407476425170898},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.42134952545166016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3232645094394684},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31322360038757324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16263946890830994},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10634651780128479},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09202840924263},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.0822838544845581}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.7504298686981201},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5777215361595154},{"id":"https://openalex.org/C2779886137","wikidata":"https://www.wikidata.org/wiki/Q21030012","display_name":"Symmetry (geometry)","level":2,"score":0.5407476425170898},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.42134952545166016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3232645094394684},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31322360038757324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16263946890830994},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10634651780128479},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09202840924263},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0822838544845581},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802487","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W192761727","https://openalex.org/W1901129140","https://openalex.org/W1909903157","https://openalex.org/W1969868017","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2605111497","https://openalex.org/W2773456899","https://openalex.org/W2963188159","https://openalex.org/W2963892972","https://openalex.org/W2995726245","https://openalex.org/W3034268164","https://openalex.org/W3091481715","https://openalex.org/W3107372911","https://openalex.org/W3107992529","https://openalex.org/W3111598592","https://openalex.org/W3114821094","https://openalex.org/W3138885497","https://openalex.org/W3175502768","https://openalex.org/W3202538459","https://openalex.org/W4221167997","https://openalex.org/W4226322645","https://openalex.org/W4312266040","https://openalex.org/W4312818087","https://openalex.org/W4385245566","https://openalex.org/W4385403811","https://openalex.org/W4390874575","https://openalex.org/W6687484953","https://openalex.org/W6739651123","https://openalex.org/W6743428213","https://openalex.org/W6754227600","https://openalex.org/W6759032116","https://openalex.org/W6779823529","https://openalex.org/W6838327568","https://openalex.org/W6851800889","https://openalex.org/W6852930566","https://openalex.org/W6853376612"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W2142036596","https://openalex.org/W2072657027","https://openalex.org/W2962838298","https://openalex.org/W2600246793"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,82,85,94,133,141],"challenging":[4],"problem":[5],"of":[6,84,96,105],"category-level":[7],"pose":[8,70],"estimation.":[9,71],"Current":[10],"state-of-the-art":[11,120],"methods":[12],"for":[13,58,69,140],"this":[14,37],"task":[15],"face":[16],"challenges":[17,42],"when":[18,24],"dealing":[19],"with":[20,88],"symmetric":[21],"objects":[22],"and":[23,122,138],"attempting":[25],"to":[26,28,52,77],"generalize":[27],"new":[29],"environments":[30],"solely":[31,111],"through":[32],"synthetic":[33,115],"data":[34,139],"training.":[35],"In":[36],"work,":[38],"we":[39,73],"address":[40],"these":[41],"by":[43,80,99],"proposing":[44],"a":[45,103],"probabilistic":[46],"model":[47],"that":[48],"relies":[49],"on":[50,102,112,132],"diffusion":[51,86],"estimate":[53],"dense":[54],"canonical":[55],"maps":[56],"crucial":[57],"recovering":[59],"partial":[60],"object":[61],"shapes":[62],"as":[63,65],"well":[64],"establishing":[66],"correspondences":[67],"essential":[68],"Furthermore,":[72],"introduce":[74],"critical":[75],"components":[76],"enhance":[78],"performance":[79,121],"leveraging":[81],"strength":[83],"models":[87],"multi-modal":[89],"input":[90],"representations.":[91],"We":[92],"demonstrate":[93],"effectiveness":[95],"our":[97,113,117],"method":[98],"testing":[100],"it":[101],"range":[104],"real":[106],"datasets.":[107],"Despite":[108],"being":[109],"trained":[110,131],"generated":[114],"data,":[116],"approach":[118],"achieves":[119],"unprecedented":[123],"generalization":[124,142],"qualities,":[125],"outperforming":[126],"baselines,":[127],"even":[128],"those":[129],"specifically":[130],"target":[134],"domain.":[135],"Our":[136],"code":[137],"benchmark":[143],"can":[144],"be":[145],"found":[146],"at":[147],"https://woven-planet.github.io/DiffusionNOCS/.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":17}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
