1st ICCV Workshop and Challenge on Category-Level Object Pose Estimation in the Wild

Oct. 20th, 2025 | ICCV workshop full-day session

Summary

This workshop addresses the critical problem of category-level object pose estimation and its applications within complex robotic manipulation scenarios. Pose estimation, a fundamental challenge in both 3D computer vision and robotics perception, involves accurately determining an object's complete 6-degree-of-freedom (6DoF) pose, comprising its 3D rotation and translation. Our workshop specifically focuses on advancing category-level pose estimation methods under realistic and demanding robotic manipulation settings, particularly emphasizing articulated objects, dynamic environments with potential human-object interactions, and objects subject to severe occlusions and partial visibility.

WCLOP 2025 Challenge

To facilitate rigorous evaluation and stimulate innovation, we organize the WCLOP 2025 Challenge with two complementary phases that address category-level object pose estimation in complex real-world scenarios. Unlike traditional instance-level methods that require known object meshes or reference images, our challenge addresses the more practical scenario where only object category information is available.

Phase 1: Category-Level Pose Estimation in Complex Real-World Scenarios

This phase aims to benchmark current methods of category-level pose estimation using diverse, challenging datasets representative of real-world robotics scenarios. Participants will be encouraged to develop robust, generalizable, and computationally efficient algorithms using the Omni6DPose and PACE datasets. These datasets provide diverse object categories, challenging occlusion scenarios, articulated objects, dynamic object-camera interactions, within-hand manipulation scenarios, and realistic lighting conditions that push the boundaries of current pose estimation methods for robotic manipulation applications.

Phase 2: Pose Estimation Evaluation Through Downstream Robotic Manipulation Tasks

The second phase assesses the practical efficacy of pose estimation methods by integrating them directly into downstream robotic manipulation tasks. The 6DoF pose has been established as a reliable and invariant representation, significantly bridging the simulation-to-real-world transfer gap. We will employ the ManiSkill simulation environment, featuring tasks such as opening microwaves, drawer manipulation, pick-and-place operations, in-hand rotation, and water pouring. Participants will use their Phase 1 trained models on Phase 2's test data, and their performance will be directly measured through manipulation task success rates.

Phase 2 test data will be released in August. The setting details will be announced then.

Challenge Timeline

Training Data Release: Available at launch
Phase 1 Submission Deadline: September 15, 2025 (11:59 PM PST)
Phase 2 Test Data Release: August 2025
Phase 2 Submission Deadline: TBD
Results Announcement: WCLOP 2025 Workshop at ICCV 2025
Awards Presentation: WCLOP 2025 Workshop at ICCV 2025

Challenge Details: For complete challenge information, submission guidelines, and participation details, please visit our Challenge Portal

Call for papers

We welcome submissions of full papers (up to 8 pages) and short papers (up to 4 pages), excluding references and appendices. All submissions must adhere to the ICCV 2025 format and will undergo peer review by domain experts. This is a non-archival track - accepted papers will be featured either as oral presentations or posters during the workshop without appearing in the official ICCV proceedings. Topics of interest include, but are not limited to:

Category-level 6D object pose estimation and tracking
Open-vocabulary object segmentation and 6D pose estimation
6D pose estimation for optically challenging objects, such as transparent or reflective surfaces
Pose-aware robotics: leveraging object pose in autonomous robotic systems

We encourage novel research that pushes the boundaries of category-level object pose estimation, with a focus on real-world challenges and applications.

Paper Submission Portal: OpenReview WCLOP 2025