RoboPEPP pre-trains a vision encoder to predict masked robot joints from context, improving pose and joint angle accuracy and occlusion robustness over prior work on the DREAM benchmark.
Self-supervised learning from images with a joint-embedding predictive architecture
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RoboPEPP: Vision-Based Robot Pose and Joint Angle Estimation through Embedding Predictive Pre-Training
RoboPEPP pre-trains a vision encoder to predict masked robot joints from context, improving pose and joint angle accuracy and occlusion robustness over prior work on the DREAM benchmark.