{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,23]],"date-time":"2026-01-23T19:12:26Z","timestamp":1769195546288,"version":"3.49.0"},"publisher-location":"New York, NY, USA","reference-count":33,"publisher":"ACM","license":[{"start":{"date-parts":[[2018,12,2]],"date-time":"2018-12-02T00:00:00Z","timestamp":1543708800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2018,12,2]]},"DOI":"10.1145\/3284398.3284408","type":"proceedings-article","created":{"date-parts":[[2018,11,29]],"date-time":"2018-11-29T13:19:41Z","timestamp":1543497581000},"page":"1-8","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Weakly supervised 6D pose estimation for robotic grasping"],"prefix":"10.1145","author":[{"given":"Yaoxin","family":"Li","sequence":"first","affiliation":[{"name":"Sensetime Group Limited"}]},{"given":"Jinghua","family":"Sun","sequence":"additional","affiliation":[{"name":"Tsinghua University"}]},{"given":"Xiaoqian","family":"Li","sequence":"additional","affiliation":[{"name":"Tsinghua University"}]},{"given":"Zhanpeng","family":"Zhang","sequence":"additional","affiliation":[{"name":"Sensetime Group Limited"}]},{"given":"Hui","family":"Cheng","sequence":"additional","affiliation":[{"name":"Sun Yat-sen University"}]},{"given":"Xiaogang","family":"Wang","sequence":"additional","affiliation":[{"name":"The Chinese University of Hong Kong"}]}],"member":"320","published-online":{"date-parts":[[2018,12,2]]},"reference":[{"key":"e_1_3_2_2_1_1","volume-title":"Experimental Robotics","author":"Bo Liefeng","unstructured":"Liefeng Bo , Xiaofeng Ren , and Dieter Fox . 2013. Unsupervised feature learning for RGB-D based object recognition . In Experimental Robotics . Springer , 387--402. Liefeng Bo, Xiaofeng Ren, and Dieter Fox. 2013. Unsupervised feature learning for RGB-D based object recognition. In Experimental Robotics. Springer, 387--402."},{"key":"e_1_3_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-10605-2_35"},{"key":"e_1_3_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2009.167"},{"key":"e_1_3_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487173"},{"key":"e_1_3_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2015.135"},{"key":"e_1_3_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2011.206"},{"key":"e_1_3_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126326"},{"key":"e_1_3_2_2_8_1","volume-title":"IEEE Conference on Computer Vision and Pattern Recognition. IEEE, 2257--2264","author":"Hinterstoisser Stefan","year":"2010","unstructured":"Stefan Hinterstoisser , Vincent Lepetit , Slobodan Ilic , Pascal Fua , and Nassir Navab . 2010 . Dominant orientation templates for real-time detection oftexture-less objects . In IEEE Conference on Computer Vision and Pattern Recognition. IEEE, 2257--2264 . Stefan Hinterstoisser, Vincent Lepetit, Slobodan Ilic, Pascal Fua, and Nassir Navab. 2010. Dominant orientation templates for real-time detection oftexture-less objects. In IEEE Conference on Computer Vision and Pattern Recognition. IEEE, 2257--2264."},{"key":"e_1_3_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-37331-2_42"},{"key":"e_1_3_2_2_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/WACV.2017.103"},{"key":"e_1_3_2_2_11_1","volume-title":"European Conference on Computer Vision. Springer, 606--619","author":"Hoda\u0148 Tom\u00e1\u0161","year":"2016","unstructured":"Tom\u00e1\u0161 Hoda\u0148 , Ji\u0159\u00ed Matas , and \u0160t\u011bp\u00e1n Obdr\u017e\u00e1lek . 2016 . On evaluation of 6D object pose estimation . In European Conference on Computer Vision. Springer, 606--619 . Tom\u00e1\u0161 Hoda\u0148, Ji\u0159\u00ed Matas, and \u0160t\u011bp\u00e1n Obdr\u017e\u00e1lek. 2016. On evaluation of 6D object pose estimation. In European Conference on Computer Vision. Springer, 606--619."},{"key":"e_1_3_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354005"},{"key":"e_1_3_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.169"},{"key":"e_1_3_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46487-9_13"},{"key":"e_1_3_2_2_15_1","volume-title":"Danilo Jimenez Rezende, and Max Welling","author":"Kingma Diederik P","year":"2014","unstructured":"Diederik P Kingma , Shakir Mohamed , Danilo Jimenez Rezende, and Max Welling . 2014 . Semi-supervised learning with deep generative models. In Advances in Neural Information Processing Systems . 3581--3589. Diederik P Kingma, Shakir Mohamed, Danilo Jimenez Rezende, and Max Welling. 2014. Semi-supervised learning with deep generative models. In Advances in Neural Information Processing Systems. 3581--3589."},{"key":"e_1_3_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2014.253"},{"key":"e_1_3_2_2_17_1","volume-title":"Focal loss for dense object detection. arXiv preprint arXiv:1708.02002","author":"Lin Tsung-Yi","year":"2017","unstructured":"Tsung-Yi Lin , Priya Goyal , Ross Girshick , Kaiming He , and Piotr Doll\u00e1r . 2017. Focal loss for dense object detection. arXiv preprint arXiv:1708.02002 ( 2017 ). Tsung-Yi Lin, Priya Goyal, Ross Girshick, Kaiming He, and Piotr Doll\u00e1r. 2017. Focal loss for dense object detection. arXiv preprint arXiv:1708.02002 (2017)."},{"key":"e_1_3_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46448-0_2"},{"key":"e_1_3_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2001.990541"},{"key":"e_1_3_2_2_20_1","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"e_1_3_2_2_21_1","volume-title":"Juan Aparicio Ojea, and Ken Goldberg","author":"Mahler Jeffrey","year":"2017","unstructured":"Jeffrey Mahler , Jacky Liang , Sherdil Niyaz , Michael Laskey , Richard Doan , Xinyu Liu , Juan Aparicio Ojea, and Ken Goldberg . 2017 . Dex-net 2.0: Deep learning to plan robust grasps with synthetic point clouds and analytic grasp metrics. arXiv preprint arXiv:1703.09312 (2017). Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, and Ken Goldberg. 2017. Dex-net 2.0: Deep learning to plan robust grasps with synthetic point clouds and analytic grasp metrics. arXiv preprint arXiv:1703.09312 (2017)."},{"key":"e_1_3_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989233"},{"key":"e_1_3_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487517"},{"key":"e_1_3_2_2_24_1","unstructured":"Yunchen Pu Zhe Gan Ricardo Henao Xin Yuan Chunyuan Li Andrew Stevens and Lawrence Carin. 2016. Variational autoencoder for deep learning of images labels and captions. In Advances in neural information processing systems. 2352--2360.   Yunchen Pu Zhe Gan Ricardo Henao Xin Yuan Chunyuan Li Andrew Stevens and Lawrence Carin. 2016. Variational autoencoder for deep learning of images labels and captions. In Advances in neural information processing systems. 2352--2360."},{"key":"e_1_3_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.413"},{"key":"e_1_3_2_2_26_1","unstructured":"Antti Rasmus Mathias Berglund Mikko Honkala Harri Valpola and Tapani Raiko. 2015. Semi-supervised learning with ladder networks. In Advances in Neural Information Processing Systems. 3546--3554.   Antti Rasmus Mathias Berglund Mikko Honkala Harri Valpola and Tapani Raiko. 2015. Semi-supervised learning with ladder networks. In Advances in Neural Information Processing Systems. 3546--3554."},{"key":"e_1_3_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.5555\/1703435.1703733"},{"key":"e_1_3_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5651280"},{"key":"e_1_3_2_2_29_1","volume-title":"GPLAC: Generalizing Vision-Based Robotic Skills using Weakly Labeled Images. arXiv preprint arXiv:1708.02313","author":"Singh Avi","year":"2017","unstructured":"Avi Singh , Larry Yang , and Sergey Levine . 2017 . GPLAC: Generalizing Vision-Based Robotic Skills using Weakly Labeled Images. arXiv preprint arXiv:1708.02313 (2017). Avi Singh, Larry Yang, and Sergey Levine. 2017. GPLAC: Generalizing Vision-Based Robotic Skills using Weakly Labeled Images. arXiv preprint arXiv:1708.02313 (2017)."},{"key":"e_1_3_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.23"},{"key":"e_1_3_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2013.160"},{"key":"e_1_3_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2015.7298930"},{"key":"e_1_3_2_2_33_1","doi-asserted-by":"crossref","unstructured":"Andy Zeng Shuran Song Kuan-Ting Yu Elliott Donlon Francois R Hogan Maria Bauza Daolin Ma Orion Taylor Melody Liu Eudald Romo etal 2017. Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching. arXiv preprint arXiv:1710.01330 (2017).  Andy Zeng Shuran Song Kuan-Ting Yu Elliott Donlon Francois R Hogan Maria Bauza Daolin Ma Orion Taylor Melody Liu Eudald Romo et al. 2017. Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching. arXiv preprint arXiv:1710.01330 (2017).","DOI":"10.1109\/ICRA.2018.8461044"}],"event":{"name":"VRCAI '18: International Conference on Virtual Reality Continuum and its Applications in Industry","location":"Tokyo Japan","acronym":"VRCAI '18","sponsor":["SIGGRAPH ACM Special Interest Group on Computer Graphics and Interactive Techniques"]},"container-title":["Proceedings of the 16th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and its Applications in Industry"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3284398.3284408","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3284398.3284408","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T00:57:36Z","timestamp":1750208256000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3284398.3284408"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,12,2]]},"references-count":33,"alternative-id":["10.1145\/3284398.3284408","10.1145\/3284398"],"URL":"https:\/\/doi.org\/10.1145\/3284398.3284408","relation":{},"subject":[],"published":{"date-parts":[[2018,12,2]]},"assertion":[{"value":"2018-12-02","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}