Author

Xian-Jia Yu

h-index 13 View on Semantic Scholar

We have 2 of 43 papers

We haven’t gathered this author’s papers yet. Follow them and we’ll fetch their work.

Not the right person? Other researchers publish under this name.

Preprint Sep 2026

Generalizable 6D Pose Estimation of Textureless Objects with Planar-based Gaussian Splatting

PG-Pose, a geometry-aware framework combining Planar-based Gaussian Splatting (PGS) reconstruction and Geometry-driven pose optimization for industrial robots in grasping tasks, is proposed and deployed on a dual-arm industrial robot and successfully realizes the grasping task on an unseen object.

Jie Lu, Heng-Tan Zhang, Li Gong et al. · 0 citations

Jul 2026

Offline Vision-Language Navigation with Geometric Goal Localization for Outdoor Environments

This paper presents the first systematic benchmark of 17 edge-deployable SLMs against 4 online APIs for robotic navigation instruction decomposition, and proposes a lightweight hybrid semantic-geometric goal localization framework that combines open-vocabulary object detection, prompted segmentation, and LiDAR geometry...

Ali Salmasi, Xian-Jia Yu, Tomi Westerlund · arXiv.org · 0 citations