Dominik Bauer

I am a postdoctoral research fellow at the Robotics and Embodied Artificial Intelligence Lab (REAL) at Stanford University and Columbia University, working with Shuran Song.

My research focuses on perception and learning of geometrical and physical principles for state estimation, dynamics prediction and manipulation. My aim is to enable robots to adapt to novel situations and learn from interactions with their environment.

selected publications

DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects

Dominik Bauer, Zhenjia Xu, and Shuran Song

European Conference on Computer Vision (ECCV), 2024

arXiv Bib HTML Code

@article{bauer2024doughnet,
  title = {DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects},
  author = {Bauer, Dominik and Xu, Zhenjia and Song, Shuran},
  journal = {European Conference on Computer Vision (ECCV)},
  year = {2024},
}

ReAgent: Point Cloud Registration using Imitation and Reinforcement Learning

Dominik Bauer, Timothy Patten, and Markus Vincze

In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021

arXiv Bib HTML Code

@inproceedings{bauer2021reagent,
  title = {ReAgent: Point Cloud Registration using Imitation and Reinforcement Learning},
  author = {Bauer, Dominik and Patten, Timothy and Vincze, Markus},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2021},
  pages = {14586--14594},
  doi = {10.1109/CVPR46437.2021.01435},
}

all publications

2025

RoboPanoptes: The All-Seeing Robot with Whole-body Dexterity

Xiaomeng Xu, Dominik Bauer, and Shuran Song

arXiv, 2025

arXiv Bib HTML

@article{xu2025panoptes,
  title = {RoboPanoptes: The All-Seeing Robot with Whole-body Dexterity},
  author = {Xu, Xiaomeng and Bauer, Dominik and Song, Shuran},
  journal = {arXiv},
  year = {2025},
}

Real2Code: Reconstruct Articulated Objects via Code Generation

Mandi Zhao, Yijia Weng, Dominik Bauer, and 1 more author

International Conference on Learning Representations (ICLR), 2025

arXiv Bib HTML Code

  title = {Real2Code: Reconstruct Articulated Objects via Code Generation},
  author = {Zhao, Mandi and Weng, Yijia and Bauer, Dominik and Song, Shuran},
  journal = {International Conference on Learning Representations (ICLR)},
  year = {2025},
}

2024

DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects

Dominik Bauer, Zhenjia Xu, and Shuran Song

European Conference on Computer Vision (ECCV), 2024

arXiv Bib HTML Code

@article{bauer2024doughnet,
  title = {DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects},
  author = {Bauer, Dominik and Xu, Zhenjia and Song, Shuran},
  journal = {European Conference on Computer Vision (ECCV)},
  year = {2024},
}

Challenges for Monocular 6D Object Pose Estimation in Robotics

Stefan Thalhammer, Dominik Bauer, Peter Hönig, and 4 more authors

IEEE Transactions on Robotics (TRO), 2024

arXiv Bib

@article{thalhammer2024challenges,
  title = {Challenges for Monocular 6D Object Pose Estimation in Robotics},
  author = {Thalhammer, Stefan and Bauer, Dominik and H{\"o}nig, Peter and Weibel, Jean-Baptiste and Garc{\'\i}a-Rodr{\'\i}guez, Jos{\'e} and Vincze, Markus and others},
  journal = {IEEE Transactions on Robotics (TRO)},
  year = {2024},
}

TRICKY 2024 Challenge on Monocular Depth from Images of Specular and Transparent Surfaces

Pierluigi Zama Ramirez, Alex Costanzino, Fabio Tosi, and 6 more authors

In European Conference on Computer Vision Workshops (ECCVW), 2024

Bib HTML

@inproceedings{ramirez2024tricky,
  author = {Ramirez, Pierluigi Zama and Costanzino, Alex and Tosi, Fabio and Poggi, Matteo and Di Stefano, Luigi and Weibel, Jean-Baptiste and Bauer, Dominik and Antensteiner, Doris and Vincze, Markus},
  title = {TRICKY 2024 Challenge on Monocular Depth from Images of Specular and Transparent Surfaces},
  booktitle = {European Conference on Computer Vision Workshops (ECCVW)},
  year = {2024},
}

2023

TrackAgent: 6D Object Tracking via Reinforcement Learning

Konstantin Röhrl, Dominik Bauer, Timothy Patten, and 1 more author

In International Conference on Computer Vision Systems (ICVS), 2023

arXiv Bib

@inproceedings{rohrl2023trackagent,
  title = {TrackAgent: 6D Object Tracking via Reinforcement Learning},
  author = {R{\"o}hrl, Konstantin and Bauer, Dominik and Patten, Timothy and Vincze, Markus},
  booktitle = {International Conference on Computer Vision Systems (ICVS)},
  pages = {323--335},
  year = {2023},
}

2022

Visual and Physical Plausibility of Object Poses for Robotic Scene Understanding

Dominik Bauer, Timothy Patten, and Markus Vincze

Trust in Robots, 2022

Bib HTML

@article{bauer2022visual,
  title = {Visual and Physical Plausibility of Object Poses for Robotic Scene Understanding},
  author = {Bauer, Dominik and Patten, Timothy and Vincze, Markus},
  year = {2022},
  publisher = {TU Wien Academic Press},
  pages = {81--103},
  journal = {Trust in Robots},
  doi = {10.34727/2022/isbn.978-3-85448-052-5_4},
}

SporeAgent: Reinforced Scene-level Plausibility for Object Pose Refinement

Dominik Bauer, Timothy Patten, and Markus Vincze

In IEEE Winter Conference on Applications of Computer Vision (WACV), 2022

arXiv Bib HTML Code

@inproceedings{bauer2022sporeagent,
  title = {SporeAgent: Reinforced Scene-level Plausibility for Object Pose Refinement},
  author = {Bauer, Dominik and Patten, Timothy and Vincze, Markus},
  booktitle = {IEEE Winter Conference on Applications of Computer Vision (WACV)},
  year = {2022},
  pages = {196--204},
  doi = {10.1109/WACV51458.2022.00027},
}

2021

ReAgent: Point Cloud Registration using Imitation and Reinforcement Learning

Dominik Bauer, Timothy Patten, and Markus Vincze

In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021

arXiv Bib HTML Code

@inproceedings{bauer2021reagent,
  title = {ReAgent: Point Cloud Registration using Imitation and Reinforcement Learning},
  author = {Bauer, Dominik and Patten, Timothy and Vincze, Markus},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2021},
  pages = {14586--14594},
  doi = {10.1109/CVPR46437.2021.01435},
}

A Study Design for Evaluation of Trust and Understandability through Interactive Multi-Modal Explanations of Robotic Failure

Guglielmo Papagni, Dominik Bauer, Sabine Köszegi, and 1 more author

HRI 2021 WYSD Workshop, 2021

Bib

@article{papagni2021trust,
  title = {A Study Design for Evaluation of Trust and Understandability through Interactive Multi-Modal Explanations of Robotic Failure},
  author = {Papagni, Guglielmo and Bauer, Dominik and K{\"o}szegi, Sabine and Vincze, Markus},
  journal = {HRI 2021 WYSD Workshop},
  year = {2021},
}

2020

Learn, detect, and grasp objects in real-world settings

Markus Vincze, Timothy Patten, Kiru Park, and 1 more author

Elektrotechnik und Informationstechnik, 2020

Bib HTML

@article{vincze2020learn,
  title = {Learn, detect, and grasp objects in real-world settings},
  author = {Vincze, Markus and Patten, Timothy and Park, Kiru and Bauer, Dominik},
  journal = {Elektrotechnik und Informationstechnik},
  volume = {137},
  number = {6},
  pages = {324--330},
  year = {2020},
  doi = {10.1007/s00502-020-00817-6},
}

Physical Plausibility of 6D Pose Estimates in Scenes of Static Rigid Objects

Dominik Bauer, Timothy Patten, and Markus Vincze

In European Conference on Computer Vision Workshops (ECCVW), 2020

Bib HTML Code

@inproceedings{bauer2020eccvw,
  author = {Bauer, Dominik and Patten, Timothy and Vincze, Markus},
  title = {Physical Plausibility of 6D Pose Estimates in Scenes of Static Rigid Objects},
  booktitle = {European Conference on Computer Vision Workshops (ECCVW)},
  year = {2020},
  pages = {648--662},
  doi = {10.1007/978-3-030-66096-3\_43},
}

Scene Explanation through Verification of Stable Object Poses

Dominik Bauer, Timothy Patten, and Markus Vincze

ICRA 2020 Workshop on Perception, Action, Learning: From Metric-Semantic Scene Understanding to High-level Task Execution, 2020

Bib

@article{bauer2020plausible,
  title = {Scene Explanation through Verification of Stable Object Poses},
  author = {Bauer, Dominik and Patten, Timothy and Vincze, Markus},
  journal = {ICRA 2020 Workshop on Perception, Action, Learning: From Metric-Semantic Scene Understanding to High-level Task Execution},
  year = {2020},
}

VeREFINE: Integrating object pose verification with physics-guided iterative refinement

Dominik Bauer, Timothy Patten, and Markus Vincze

IEEE Robotics and Automation Letters (RA-L), 2020

arXiv Bib HTML Code

@article{bauer2020verefine,
  title = {VeREFINE: Integrating object pose verification with physics-guided iterative refinement},
  author = {Bauer, Dominik and Patten, Timothy and Vincze, Markus},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  volume = {5},
  number = {3},
  pages = {4289--4296},
  year = {2020},
  doi = {10.1109/LRA.2020.2996059},
}

2019

Monte Carlo tree search on directed acyclic graphs for object pose verification

Dominik Bauer, Timothy Patten, and Markus Vincze

In International Conference on Computer Vision Systems (ICVS), 2019

Bib HTML

@inproceedings{bauer2019mcts,
  author = {Bauer, Dominik and Patten, Timothy and Vincze, Markus},
  title = {Monte {C}arlo tree search on directed acyclic graphs for object pose verification},
  booktitle = {International Conference on Computer Vision Systems (ICVS)},
  year = {2019},
  pages = {386--396},
  doi = {10.1007/978-3-030-34995-0\_35},
}

6D object pose verification via confidence-based Monte Carlo tree search and constrained physics simulation

Dominik Bauer, Timothy Patten, and Markus Vincze

In OAGM & ARW Joint Workshop, 2019

Bib HTML

@inproceedings{bauer2019sixd,
  title = {6D object pose verification via confidence-based Monte Carlo tree search and constrained physics simulation},
  author = {Bauer, Dominik and Patten, Timothy and Vincze, Markus},
  booktitle = {OAGM \& ARW Joint Workshop},
  pages = {153--158},
  year = {2019},
  doi = {10.3217/978-3-85125-663-5-31},
}

A pilot study on determining the relation between gaze aversion and interaction experience

Michael Koller, Dominik Bauer, Jesse Pagter, and 2 more authors

In ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2019

Bib HTML

@inproceedings{koller2019pilot,
  title = {A pilot study on determining the relation between gaze aversion and interaction experience},
  author = {Koller, Michael and Bauer, Dominik and de Pagter, Jesse and Papagni, Guglielmo and Vincze, Markus},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  pages = {644--645},
  year = {2019},
  doi = {10.1109/hri.2019.8673237},
}

2018

A VR-based user study on the effects of vision impairments on recognition distances of escape-route signs in buildings

Katharina Krösl, Dominik Bauer, Michael Schwärzler, and 3 more authors

The Visual Computer, 2018

Bib HTML

@article{krosl2018vr,
  title = {A VR-based user study on the effects of vision impairments on recognition distances of escape-route signs in buildings},
  author = {Kr{\"o}sl, Katharina and Bauer, Dominik and Schw{\"a}rzler, Michael and Fuchs, Henry and Suter, Georg and Wimmer, Michael},
  journal = {The Visual Computer},
  volume = {34},
  pages = {911--923},
  year = {2018},
  doi = {10.1007/s00371-018-1517-7},
}