{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/learning-to-predict-robot-keypoints-using","title":"Learning to Predict Robot Keypoints Using Artificially Generated Images","arxiv_id":"1907.01879","date":"2019-07-03","proceeding":null,"authors":["Christoph Heindl","Sebastian Zambal","Josef Scharinger"],"abstract":"This work considers robot keypoint estimation on color images as a supervised machine learning task. We propose the use of probabilistically created renderings to overcome the lack of labeled real images. Rather than sampling from stationary distributions, our approach introduces a feedback mechanism that constantly adapts probability distributions according to current training progress. Initial results show, our approach achieves near-human-level accuracy on real images. Additionally, we demonstrate that feedback leads to fewer required training steps, while maintaining the same model quality on synthetic data sets.","url_abs":"https://arxiv.org/abs/1907.01879v1","url_pdf":"https://arxiv.org/pdf/1907.01879v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"learning-to-predict-robot-keypoints-using","repo_url":"https://github.com/cheind/pytorch-blender","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"machine-learning","task_name":"BIG-bench Machine Learning"},{"task_slug":"keypoint-estimation","task_name":"Keypoint Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1907.01879","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1907.01879"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/cheind/pytorch-blender","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"unverified":5},"by_repo_kind":{"official":{"samples":5,"ran":0,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"bf7eb3ee9805eff5","entry":"dehom","repo":"cheind/pytorch-blender","repo_kind":"official","path":"pkg_blender/blendtorch/btb/utils.py","file_url":"https://github.com/cheind/pytorch-blender/blob/HEAD/pkg_blender/blendtorch/btb/utils.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"bf7eb3ee9805eff5"}},{"code_sha256_prefix":"5e61404f9bfe2ff5","entry":"gamma","repo":"cheind/pytorch-blender","repo_kind":"official","path":"pkg_pytorch/blendtorch/btt/colors.py","file_url":"https://github.com/cheind/pytorch-blender/blob/HEAD/pkg_pytorch/blendtorch/btt/colors.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"5e61404f9bfe2ff5"}},{"code_sha256_prefix":"49619365944162ee","entry":"hom","repo":"cheind/pytorch-blender","repo_kind":"official","path":"pkg_blender/blendtorch/btb/utils.py","file_url":"https://github.com/cheind/pytorch-blender/blob/HEAD/pkg_blender/blendtorch/btb/utils.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"49619365944162ee"}},{"code_sha256_prefix":"520042e7ca56572c","entry":"parse_blendtorch_args","repo":"cheind/pytorch-blender","repo_kind":"official","path":"pkg_blender/blendtorch/btb/arguments.py","file_url":"https://github.com/cheind/pytorch-blender/blob/HEAD/pkg_blender/blendtorch/btb/arguments.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"520042e7ca56572c"}},{"code_sha256_prefix":"7733fb38e07104db","entry":"random_spherical_loc","repo":"cheind/pytorch-blender","repo_kind":"official","path":"pkg_blender/blendtorch/btb/utils.py","file_url":"https://github.com/cheind/pytorch-blender/blob/HEAD/pkg_blender/blendtorch/btb/utils.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"7733fb38e07104db"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}