Author

Yunan Wang

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Preprint Sep 2026

G6D: Geometric Learning-Free RGB-D 6D Pose Solver for Robotic Manipulation

6D object pose estimation is fundamental to robotic manipulation and automation. Recent zero-shot methods have significantly improved generalization to unseen objects, but most still rely on large-scale pretrained models with substantial GPU computation and memory demands. These requirements complicate deployment on ro...

Yi-Xuan Liang, William Chen, Yunan Wang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Newton Matching for Generative Modeling: A Unified Framework for Fine-Tuning and Sampling

The paradigm from isolated losses to iterative optimization over canonical models: population minimizers of standard conditional matching for terminal densities and approximate updates and define critical-point consistency as vanishing tangential displacement if and only if $\rho=\pi$.

Ze-Yang Li, Yunan Wang, Paolo Giaretta et al. · 0 citations