{"id":"https://openalex.org/W7155516269","doi":"https://doi.org/10.1109/lra.2026.3683592","title":"PGCSPose: Physics-Constrained Generation and Causal Semantic Fusion for Robust In-Hand Pose Estimation","display_name":"PGCSPose: Physics-Constrained Generation and Causal Semantic Fusion for Robust In-Hand Pose Estimation","publication_year":2026,"publication_date":"2026-04-24","ids":{"openalex":"https://openalex.org/W7155516269","doi":"https://doi.org/10.1109/lra.2026.3683592"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3683592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3683592","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5029620144","display_name":"Peiliang Wu","orcid":"https://orcid.org/0000-0003-1228-2757"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peiliang Wu","raw_affiliation_strings":["School of Artificial Intelligence (School of Software), Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0003-1228-2757","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence (School of Software), Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054616440","display_name":"Y N Li","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Li","raw_affiliation_strings":["School of Artificial Intelligence (School of Software), Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0009-0006-7631-2459","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence (School of Software), Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094262973","display_name":"Mingyue Niu","orcid":"https://orcid.org/0009-0000-5133-7525"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyue Niu","raw_affiliation_strings":["School of Artificial Intelligence (School of Software), Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0009-0000-5133-7525","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence (School of Software), Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134529781","display_name":"Wenbai Chen","orcid":"https://orcid.org/0000-0001-7683-2776"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbai Chen","raw_affiliation_strings":["Beijing Information Science and Technology University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7683-2776","affiliations":[{"raw_affiliation_string":"Beijing Information Science and Technology University, Beijing, China","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5134527392","display_name":"Guowei Gao","orcid":"https://orcid.org/0000-0003-3437-4265"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guowei Gao","raw_affiliation_strings":["Beijing Information Science and Technology University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3437-4265","affiliations":[{"raw_affiliation_string":"Beijing Information Science and Technology University, Beijing, China","institution_ids":["https://openalex.org/I78675632"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4289613,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"6","first_page":"7086","last_page":"7093"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7937999963760376,"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":0.7937999963760376,"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":0.043299999088048935,"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/T12290","display_name":"Human Motion and Animation","score":0.03180000185966492,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.45350000262260437},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4000000059604645},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3937000036239624},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.3869999945163727},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.31189998984336853}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7199000120162964},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6118000149726868},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4982999861240387},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.45350000262260437},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4000000059604645},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3937000036239624},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3869999945163727},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.31189998984336853},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2793999910354614},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.275299996137619},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26820001006126404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3683592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3683592","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1484327127","display_name":null,"funder_award_id":"62276028","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6392340167","display_name":null,"funder_award_id":"F202103079","funder_id":"https://openalex.org/F4320324965","funder_display_name":"Hebei Provincial Department of Bureau of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324965","display_name":"Hebei Provincial Department of Bureau of Science and Technology","ror":"https://ror.org/05k812a28"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W179372779","https://openalex.org/W1548071717","https://openalex.org/W2143891888","https://openalex.org/W2194775991","https://openalex.org/W2804941773","https://openalex.org/W2949924544","https://openalex.org/W2952866402","https://openalex.org/W3008303301","https://openalex.org/W3012366945","https://openalex.org/W3135588948","https://openalex.org/W4383097638","https://openalex.org/W4385245566","https://openalex.org/W4385431115","https://openalex.org/W4386071541","https://openalex.org/W4389667670","https://openalex.org/W4402623740","https://openalex.org/W4403337227","https://openalex.org/W4413925033","https://openalex.org/W4413926000","https://openalex.org/W4416749610"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"in-hand":[1],"pose":[2],"estimation":[3],"is":[4],"essential":[5],"for":[6,86],"dexterous":[7],"robotic":[8],"manipulation":[9,139],"but":[10],"remains":[11],"fragile":[12],"under":[13,68,140],"severe":[14],"visual":[15,35],"occlusion":[16,102],"($>$50%)":[17],"and":[18,28,39,93,103,113,133],"intermittent":[19],"tactile":[20,42,66,105],"contact.":[21],"Existing":[22],"visuo-tactile":[23],"fusion":[24],"methods":[25],"treat":[26],"vision":[27],"touch":[29],"symmetrically,":[30],"overlooking":[31],"the":[32],"asymmetric":[33],"dependency:":[34],"observations":[36],"(object":[37],"geometry":[38],"grasp)":[40],"influence":[41],"feedback":[43],"through":[44],"contact":[45,69],"mechanics.":[46],"We":[47],"presentPGCSPose,":[48],"a":[49,59,72],"framework":[50],"that":[51,63,79,96,130],"leverages":[52],"this":[53],"vision$\\rightarrow$tactile":[54],"dependency":[55],"via":[56],"two":[57],"components:TacDiffusion,":[58],"physics-constrained":[60,131],"diffusion":[61],"model":[62],"synthesizes":[64],"plausible":[65],"signals":[67],"loss,":[70],"andCauCon,":[71],"reasoning":[73,136],"module":[74],"inspired":[75],"by":[76],"causal":[77],"principles":[78],"integrates":[80],"semantic":[81,135],"priors":[82],"from":[83],"language":[84],"models":[85],"robust":[87],"inference.":[88],"Extensive":[89],"evaluation":[90],"on":[91],"ObjectInHand":[92],"VinT-6D":[94],"demonstrates":[95],"PGCSPose":[97],"reducespose":[98],"error":[99],"by$>$50%under":[100],"70%":[101],"60%":[104],"dropout,":[106],"achieving":[107],"position":[108],"errors":[109,115],"of":[110,116],"0.44\u20130.47":[111],"cm":[112],"angular":[114],"0.075\u20130.081":[117],"rad":[118],"across":[119],"benchmarks,":[120],"while":[121],"maintaining":[122],"real-time":[123],"performance":[124],"(16.1":[125],"FPS).":[126],"These":[127],"results":[128],"demonstrate":[129],"generation":[132],"causally-inspired":[134],"enable":[137],"reliable":[138],"degraded":[141],"sensing":[142],"conditions.":[143]},"counts_by_year":[],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2026-04-25T00:00:00"}