Stan Birchfield

Selected Publications

FoundationStereo: Zero-Shot Stereo Matching (2025)

B. Wen, M. Trepte, J. Aribido, J. Kautz, O. Gallo, S. Birchfield

Computer Vision and Pattern Recognition (CVPR), Nashville, Tennessee 2025

Award: CVPR Best Paper Award Candidate

News: #1 on Middlebury Stereo Evaluation - Version 3 (2025/02/03 – 2025/03/04)

News: #1 on ETH3D Low-Res Two-View Benchmark (2024/11/15 – 2025/05/14)

Paper | Code and Dataset | Commercial Code | Video | Website

RoboSpatial: Teaching Spatial Understanding to 2D and 3D Vision-Language Models for Robotics (2025)

C. H. Song, V. Blukis, J. Tremblay, S. Tyree, Y. Su, S. Birchfield

Computer Vision and Pattern Recognition (CVPR), Nashville, Tennessee 2025

Paper | Code | Dataset | Website

SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation (2025)

C.-C. Hsu, B. Wen, J. Xu, Y. Narang, X. Wang, Y. Zhu, J. Biswas, S. Birchfield

International Conference on Robotics and Automation (ICRA), Atlanta, May 2025

Paper | Video | Website

FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects (2024)

B. Wen, W. Yang, J. Kautz, S. Birchfield

Computer Vision and Pattern Recognition (CVPR), Seattle, June 2024

Award: BOP Challenge 2024 "Early Bird" Award

News: #1 on BOP leaderboard for unseen 6D pose estimation (2023/11/19 – 2024/09/03)

Press: NVIDIA AI post, NVIDIA blog on TAO Foundation Models

Paper | Code | Commercial Code | Video | Website

Neural Implicit Representation for Building Digital Twins of Unknown Articulated Objects (2024)

Y. Weng, B. Wen, J. Tremblay, V. Blukis, D. Fox, L. Guibas, S. Birchfield

Computer Vision and Pattern Recognition (CVPR), Seattle, June 2024

Paper | Code | Website

NeRFDeformer: NeRF Transformation from a Single View via 3D Scene Flows (2024)

Z. Tang, Z. Ren, X. Zhao, B. Wen, J. Tremblay, S. Birchfield, A. Schwing

Computer Vision and Pattern Recognition (CVPR), Seattle, June 2024

Paper | Code | Video | Website

DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulation (2024)

B. P. Duisterhof, M. Zhao, Y. Yao, J.-W. Liu, J. Seidenschwarz, M. Z. Shou, D. Ramanan, S. Song, S. Birchfield, B. Wen, J. Ichnowski

Workshop on the Algorithmic Foundations of Robotics (WAFR), Chicago, October 2024

Paper | Code | Website

HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions (2023)

A. Guo, B. Wen, J. Yuan, J. Tremblay, S. Tyree, J. Smith, S. Birchfield

International Conference on Intelligent Robots and Systems (IROS), Detroit, Michigan, October 2023

Paper | Code | Website

BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects (2023)

B. Wen, J. Tremblay, V. Blukis, S. Tyree, T. Müller, A. Evans, D. Fox, J. Kautz, S. Birchfield

Computer Vision and Pattern Recognition (CVPR), Vancouver, June 2023

Press: NVIDIA 3D object reconstruction workflow post

Paper | Code | Commercial Code | Video | Website

TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation (2023)

T. Lee, J. Tremblay, V. Blukis, B. Wen, B.-U. Lee, I. Shin, S. Birchfield, I. S. Kweon, K.-J. Yoon

Computer Vision and Pattern Recognition (CVPR), Vancouver, June 2023

Paper | Video | Website

Affordance Diffusion: Synthesizing Hand-Object Interactions (2023)

Y. Ye, X. Li, A. Gupta, S. De Mello, S. Birchfield, J. Song, S. Tulsiani, S. Liu

Computer Vision and Pattern Recognition (CVPR), Vancouver, June 2023

Paper | Video | Website

Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation (2023)

Y. Lin, T. Müller, J. Tremblay, B. Wen, S. Tyree, A. Evans, P. A. Vela, S. Birchfield

International Conference on Robotics and Automation (ICRA), London, May 2023

Paper | Code | Video | Website

RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control (2023)

Z. Tang, B. Sundaralingam, J. Tremblay, B. Wen, Y. Yuan, S. Tyree, C. Loop, A. Schwing, S. Birchfield

International Conference on Robotics and Automation (ICRA), London, May 2023

Paper | Video | Website

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Selected Publications

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