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cs.CV2026
LEGAU: Learning Semantic Gaussian Priors for Scalable Category-level Pose Estimation
Hongli Xu, Zhaowei Lu, Junwen Huang +5
Category-level 6D pose estimation from a single RGB-D observation is inherently under-constrained, since partial visible geometry must be interpreted together with a canonical obje…
cs.CV2026
SOS! : A Streamlined Object-Conditional Transformer for Model-free Segmentation
Jiaqi Hu, Junwen Huang, Hongli Xu +4
Foundation segmentation models excel at generating high-quality, class-agnostic masks, but they struggle to associate these proposals with specific target objects. This semantic ga…
cs.CV2026
Pose Anything Anywhere:Model-free Object Poses from Arbitrary References
Hongli Xu, Jiaqi Hu, Junwen Huang +5
Estimating the 6D pose of unseen objects is a fundamental yet challenging problem for open-world robotics and embodied perception. Model-based methods are accurate but depend on CA…