GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Picking

arXiv:2610.01758 · cs.CV · Submitted 2026-10-01 · Read on arXiv

cs.CV

Submitted: 2026-10-01

Updated: 2026-10-01

Comments: Accepted by NeurIPS'26

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Consistency — 61× in this paper · explained in 3 episodes
• Transformer — 20× in this paper · explained in 2 episodes
• Generalization — 15× in this paper · explained in 13 episodes
• 6D Object Pose Estimation — 9× in this paper · explained in 1 episode
• Alignment — 9× in this paper · explained in 1 episode
• Ablation — 8× in this paper · explained in 1 episode
• Benchmark — 8× in this paper · explained in 2 episodes
• Robustness — 8× in this paper · explained in 5 episodes
• Accuracy — 6× in this paper · explained in 1 episode
• Ablation Studies — 5× in this paper · explained in 1 episode
• Adaptation — 5× in this paper · explained in 1 episode
• Domain Shift — 3× in this paper · explained in 4 episodes
• Semantic Alignment — 3× in this paper · explained in 3 episodes
• Computational overhead — 2× in this paper · explained in 2 episodes
• Contrastive Learning — 2× in this paper · explained in 5 episodes
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Distillation — 2× in this paper · explained in 2 episodes
• Domain Adaptation — 2× in this paper · explained in 5 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Instance Segmentation — 2× in this paper · explained in 3 episodes
• 9D Pose — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Attention Mechanism — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Cross-Attention Mechanism — 1× in this paper · explained in 2 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Knowledge Distillation — 1× in this paper · explained in 11 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes
• Transformer Architecture — 1× in this paper · explained in 2 episodes

Sources

• Gemini: A Family of Highly Capable Multimodal Models
• CLIPose: Category-Level Object Pose Estimation with Pre-trained Vision-Language Knowledge
• DINOv2: Learning Robust Visual Features without Supervision
• Qwen2.5-VL Technical Report
• GPT-4 Technical Report

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