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cs.RO2026
Physics-Aware Object-Centric SE(3) Forecasting for Real-Time Proactive Dynamic Grasping
Yirui Zhou, Hongli Xu, Ying Zheng +2
Proactive dynamic grasping requires robots to predict the future state at which physical contact will occur, rather than reacting to the currently observed object pose. But what fu…
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…