2 papers
cs.CV2026
G6D: Geometric Learning-Free RGB-D 6D Pose Solver for Robotic Manipulation
Yixuan Liang, William Chen, Yunan Wang +4
6D object pose estimation is fundamental to robotic manipulation and automation. Recent zero-shot methods have significantly improved generalization to unseen objects, but most sti…
math.OC2026
Reachability-Augmented Dual Dynamic Programming for Optimal Path Parameterization
Yunan Wang, Jizhou Yan, Chuxiong Hu +1
Optimal path parameterization (OPP) is a fundamental problem for planning trajectories along a prescribed geometric path under kinodynamic constraints and task-dependent objectives…