ICRA 2026 Workshop
Visual Proprioception
Generalizing Visual Proprioception for Multiple Robot Configurations
Manhattan 3D
AL5D (Real 6-DOF)
6-DOF · RMSE per joint
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Encoder Battle
AL5D (Real 6-DOF)
6-DOF · RMSE per joint
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Live Tracking
AL5D (Real 6-DOF)
6-DOF · RMSE per joint
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Manhattan 3D
Unitree G1 (Sim 7-DOF)
7-DOF · RMSE per joint
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Encoder Battle
Unitree G1 (Sim 7-DOF)
7-DOF · RMSE per joint
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Live Tracking
Unitree G1 (Sim 7-DOF)
7-DOF · RMSE per joint
≋
Manhattan 3D
Franka Panda (Real 7-DOF)
7-DOF · RMSE per joint
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Encoder Battle
Franka Panda (Real 7-DOF)
7-DOF · RMSE per joint
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Live Tracking
Franka Panda (Real 7-DOF)
7-DOF · RMSE per joint
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Cross-Robot Transfer
Transfer Globe
G1 ↔ Franka · arc diagram
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All Robots — Overview
Encoder Battle Dashboard
All robots · winners per joint · animated radars
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All Encoders × All Joints
Grand Heatmap
Full RMSE matrix · ★ = best per joint
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Total Joint Wins
Encoder Leaderboard
Ranked across all robots · podium · breakdown
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Transfer Analysis
Transfer Cost Panel
Own vs transferred RMSE · delta per encoder
→
Rank Across Robots
Ranking Flow
Encoder positions shift across robot configs
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Galaxy Map
Constellation
Robots as clusters · brightness = accuracy
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Per-Encoder Deep Dive
Model Showcase
Full RMSE table per encoder · auto-cycles · all robots
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Per-Robot Radar
Dataset Radar
One big radar per robot · all encoders · auto-cycles
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