@article{robustkeypointdetectionandposeestimation,
  title = {Pose Estimation for Robot Manipulators via Keypoint Optimization and Sim-to-Real Transfer},
  author = {Jingpei Lu and Florian Richter and Michael Yip},
  year = {2020},
  eprint = {2010.08054},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2010.08054v3},
}