Co-evolutionary predictors for kinematic pose inference from RGBD images
Bibliographic record
Abstract
Markerless pose inference of arbitrary subjects is a primary problem for a variety of applications, including robot vision and teaching by demonstration. Unsupervised kinematic pose inference is an ideal method for these applications as it provides a robust, training-free approach with minimal reliance on prior information. However, these methods have been considered intractable for complex models. This paper presents a general framework for inferring poses from a single depth image given an arbitrary kinematic structure without prior training. A co-evolutionary algorithm, consisting of pose and predictor populations, is applied to overcome the traditional limitations in kinematic pose inference. Evaluated on test sets of 256 synthetic and 52 real images, our algorithm shows consistent pose inference for 34 and 78 degree of freedom models with point clouds containing over 40,000 points, even in cases of significant self-occlusion. Compared to various baselines, the co-evolutionary algorithm provides at least a 3.5-fold increase in pose accuracy and a two-fold reduction in computational effort for articulated models.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".