Author

Zhao-Wei Lu

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Preprint Sep 2026

LEGAU: Learning Semantic Gaussian Priors for Scalable Category-level Pose Estimation

Category-level 6D pose estimation from a single RGB-D observation is inherently under-constrained, since partial visible geometry must be interpreted together with a canonical object structure before a stable pose can be determined. We present LEGAU, a unified framework that jointly predicts NOCS correspondence, object...

Hong-Li Xu, Zhao-Wei Lu, Jun-Wen Huang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

S2Planner: Multi-Scale Semantic Planner for End-to-End Autonomous Driving

We present S2Planner, a trajectory planner that combines three front-facing cameras with ego-motion history and the current driving command. A fine-tuned DINOv3 backbone and a Spatial Tuning Adapter produce multi-scale image features; a coarse-to-fine decoder then uses trajectory self-attention and camera-projected cro...

Zhao-Wei Lu, Li-Guo Zhou, Yu-Jie Guo et al. · 0 citations