{"id":"https://openalex.org/W7140228553","doi":"https://doi.org/10.48550/arxiv.2603.20992","title":"Geometrically Plausible Object Pose Refinement using Differentiable Simulation","display_name":"Geometrically Plausible Object Pose Refinement using Differentiable Simulation","publication_year":2026,"publication_date":"2026-03-22","ids":{"openalex":"https://openalex.org/W7140228553","doi":"https://doi.org/10.48550/arxiv.2603.20992"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.20992","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.20992","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":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.20992","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Zeybek, Anil","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zeybek, Anil","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Newbury, Rhys","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Newbury, Rhys","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Dikhale, Snehal","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dikhale, Snehal","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Jamali, Nawid","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jamali, Nawid","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Iba, Soshi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Iba, Soshi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Cosgun, Akansel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cosgun, Akansel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9789999723434448,"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":0.9789999723434448,"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":0.004699999932199717,"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/T10982","display_name":"Motor Control and Adaptation","score":0.00139999995008111,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7955999970436096},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.7838000059127808},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.5188000202178955},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5162000060081482},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5095000267028809},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5008999705314636},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.5004000067710876},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4611000120639801}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7955999970436096},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.7838000059127808},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5898000001907349},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5598999857902527},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5426999926567078},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.5188000202178955},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5162000060081482},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5095000267028809},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5008999705314636},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.5004000067710876},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4611000120639801},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4032000005245209},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.37549999356269836},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.365200012922287},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.3310999870300293},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3249000012874603},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3249000012874603},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.31139999628067017},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2856000065803528},{"id":"https://openalex.org/C120968358","wikidata":"https://www.wikidata.org/wiki/Q2011845","display_name":"Object-orientation","level":3,"score":0.27619999647140503},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.20992","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.20992","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":"doi:10.48550/arxiv.2603.20992","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.20992","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":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"State-of-the-art":[0],"object":[1,56,78],"pose":[2,11,41,121],"estimation":[3,122],"methods":[4],"are":[5,30],"prone":[6],"to":[7,54,132],"generating":[8],"geometrically":[9],"infeasible":[10],"hypotheses.":[12],"This":[13],"problem":[14],"is":[15,88,109,124,136],"prevalent":[16],"in":[17,106,115,126],"dexterous":[18],"manipulation,":[19],"where":[20],"estimated":[21],"poses":[22,57],"often":[23],"intersect":[24],"with":[25],"the":[26,72,77,85,104],"robotic":[27,80],"hand":[28,81],"or":[29],"not":[31],"lying":[32],"on":[33],"a":[34,39,112,137],"support":[35],"surface.":[36],"We":[37],"propose":[38],"multi-modal":[40,133],"refinement":[42],"approach":[43,70],"that":[44,68,123],"combines":[45],"differentiable":[46,49],"physics":[47],"simulation,":[48],"rendering":[50],"and":[51,62,79,90,117],"visuo-tactile":[52],"sensing":[53],"optimize":[55],"for":[58],"both":[59],"spatial":[60],"accuracy":[61],"physical":[63,127],"consistency.":[64],"Simulated":[65],"experiments":[66],"show":[67],"our":[69],"reduces":[71],"intersection":[73],"volume":[74],"error":[75],"between":[76],"by":[82,91,111],"73\\%":[83],"when":[84],"initial":[86,96],"estimate":[87],"accurate":[89],"over":[92],"87\\%":[93],"under":[94],"high":[95],"uncertainty,":[97],"significantly":[98],"outperforming":[99],"standard":[100],"ICP-based":[101],"baselines.":[102],"Furthermore,":[103],"improvement":[105],"geometric":[107],"plausibility":[108],"accompanied":[110],"concurrent":[113],"reduction":[114],"translation":[116],"orientation":[118],"errors.":[119],"Achieving":[120],"grounded":[125],"reality":[128],"while":[129],"remaining":[130],"faithful":[131],"sensor":[134],"inputs":[135],"critical":[138],"step":[139],"toward":[140],"robust":[141],"in-hand":[142],"manipulation.":[143]},"counts_by_year":[],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2026-03-25T00:00:00"}