Mind the Shape Gap: A Benchmark and Baseline for Deformation-Aware 6D Pose Estimation of Agricultural Produce

Accurate 6D pose estimation for robotic harvesting is fundamentally hindered by the biological deformability and high intra-class shape variability of agricultural produce. Instance-level methods fail in this setting, as obtaining exact 3D models for every unique piece of produce is practically infeasible, while category-level approaches that rely on a fixed template suffer significant accuracy degradation when the prior deviates from the true instance geometry. To bridge such lack of robustness to deformation, we introduce PEAR (Pose and dEformation of Agricultural pRoduce), the first benchmark providing joint 6D pose and per-instance 3D deformation ground truth across 8 produce categories, acquired via a robotic manipulator for high annotation accuracy. Using PEAR, we show that state-of-the-art methods suffer up to 6x performance degradation when faced with the inherent geometric deviations of real-world produce. Motivated by this finding, we propose SEED (Simultaneous Estimation of posE and Deformation), a unified RGB-only framework that jointly predicts 6D pose and explicit lattice deformations from a single image across multiple produce categories. Trained entirely on synthetic data with generative texture augmentation applied at the UV level, SEED outperforms MegaPose on 6 out of 8 categories under identical RGB-only conditions, demonstrating that explicit shape modeling is a critical step toward reliable pose estimation in agricultural robotics.

Emotion Understanding in Videos Through Body, Context, and Visual-Semantic Embedding Loss

We present our winning submission to the First International Workshop on Bodily Expressed Emotion Understanding (BEEU) challenge. Based on recent literature on the effect of context/environment on emotion, as well as visual representations with semantic meaning using word embeddings, we extend the framework of Temporal Segment Network to accommodate these. Our method is verified on the validation set of the Body Language Dataset (BoLD) and achieves 0.26235 Emotion Recognition Score on the test set, surpassing the previous best result of 0.2530.