{"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/real-time-esfp-estimating-smoothing-filtering","title":"Real-Time ESFP: Estimating, Smoothing, Filtering, and Pose-Mapping","arxiv_id":"2506.21234","date":"2025-06-26","proceeding":null,"authors":["Qifei Cui","Yuang Zhou","Ruichen Deng"],"abstract":"This paper presents ESFP, an end-to-end pipeline that converts monocular RGB video into executable joint trajectories for a low-cost 4-DoF desktop arm. ESFP comprises four sequential modules. (1) Estimating: ROMP lifts each frame to a 24-joint 3-D skeleton. (2) Smoothing: the proposed HPSTM-a sequence-to-sequence Transformer with self-attention-combines long-range temporal context with a differentiable forward-kinematics decoder, enforcing constant bone lengths and anatomical plausibility while jointly predicting joint means and full covariances. (3) Filtering: root-normalized trajectories are variance-weighted according to HPSTM's uncertainty estimates, suppressing residual noise. (4) Pose-Mapping: a geometric retargeting layer transforms shoulder-elbow-wrist triples into the uArm's polar workspace, preserving wrist orientation.","url_abs":"https://arxiv.org/abs/2506.21234v1","url_pdf":"https://arxiv.org/pdf/2506.21234v1.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":"real-time-esfp-estimating-smoothing-filtering","repo_url":"https://github.com/qifei-c/genuine-esfp","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"decoder","task_name":"Decoder"}],"methods":[{"method_slug":"absolute-position-encodings","method_name":"Absolute Position Encodings"},{"method_slug":"bpe","method_name":"BPE"},{"method_slug":"dense-connections","method_name":"Dense Connections"},{"method_slug":"dropout","method_name":"Dropout"},{"method_slug":"label-smoothing","method_name":"Label Smoothing"},{"method_slug":"layer-normalization","method_name":"Layer Normalization"},{"method_slug":"softmax","method_name":"Softmax"},{"method_slug":"transformer","method_name":"Transformer"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2506.21234","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}