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simmediummanipulationmetric · varies
Benchmarking the Effects of Object Pose Estimation and Reconstruction on Robotic Grasping Success
Description
3D reconstruction serves as the foundational layer for numerous robotic perception tasks, including 6D object pose estimation and grasp pose generation. Modern 3D reconstruction methods for objects can produce visually and geometrically impressive meshes from multi-view images, yet standard geometric evaluations do not reflect how reconstruction quality influences downstream tasks such as robotic manipulation performance. This paper addresses this gap by introducing a large-scale, physics-based