{"id":"https://openalex.org/W7161605249","doi":"https://doi.org/10.48550/arxiv.2605.15728","title":"DecomPose: Disentangling Cross-Category Optimization Contention for Category-Level 6D Object Pose Estimation","display_name":"DecomPose: Disentangling Cross-Category Optimization Contention for Category-Level 6D Object Pose Estimation","publication_year":2026,"publication_date":"2026-05-15","ids":{"openalex":"https://openalex.org/W7161605249","doi":"https://doi.org/10.48550/arxiv.2605.15728"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.15728","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15728","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.15728","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136365367","display_name":"Yifan Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Yifan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136363277","display_name":"Lu Zou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zou, Lu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017524281","display_name":"Zhangjin Huang","orcid":"https://orcid.org/0000-0003-1475-8894"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Zhangjin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136379452","display_name":"Guoping Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Guoping","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9175000190734863,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9175000190734863,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.01600000075995922,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.009399999864399433,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7106000185012817},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5570999979972839},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5389999747276306},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.43779999017715454},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.4253000020980835},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.4011000096797943},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.36980000138282776},{"id":"https://openalex.org/keywords/optimization-algorithm","display_name":"Optimization algorithm","score":0.3440000116825104}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7106000185012817},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.704200029373169},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5777000188827515},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5570999979972839},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5389999747276306},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.43779999017715454},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.4253000020980835},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.4011000096797943},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.36980000138282776},{"id":"https://openalex.org/C2987595161","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Optimization algorithm","level":2,"score":0.3440000116825104},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.3237000107765198},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3160000145435333},{"id":"https://openalex.org/C2780148112","wikidata":"https://www.wikidata.org/wiki/Q1432581","display_name":"Proxy (statistics)","level":2,"score":0.30889999866485596},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.30880001187324524},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.30550000071525574},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30300000309944153},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.299699991941452},{"id":"https://openalex.org/C164752517","wikidata":"https://www.wikidata.org/wiki/Q5570875","display_name":"Global optimization","level":2,"score":0.29910001158714294},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.296999990940094},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2969000041484833},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.28200000524520874},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26919999718666077},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2612000107765198},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.25679999589920044}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.15728","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15728","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.15728","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15728","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Category-level":[0],"6D":[1],"object":[2],"pose":[3,147],"estimation":[4,148],"is":[5],"typically":[6],"formulated":[7],"as":[8,110],"a":[9,63,80,89],"multi-category":[10],"joint":[11],"learning":[12],"problem":[13],"with":[14,118],"fully":[15],"shared":[16,30],"model":[17],"parameters.":[18],"However,":[19],"pronounced":[20],"geometric":[21],"heterogeneity":[22],"across":[23,150],"categories":[24,78,109,117],"entangles":[25],"incompatible":[26,95],"optimization":[27,69,112,142],"signals":[28],"in":[29,33],"modules,":[31],"resulting":[32],"gradient":[34,74],"conflicts":[35],"and":[36,84,97,125,134,144],"negative":[37,127],"transfer":[38],"during":[39],"training.":[40],"To":[41],"address":[42],"this":[43],"challenge,":[44],"we":[45,60],"first":[46],"introduce":[47],"gradient-based":[48],"diagnostics":[49],"to":[50,88,93,106,121],"quantify":[51],"module-level":[52],"cross-category":[53,141],"contention.":[54],"Building":[55],"on":[56,131],"results":[57],"of":[58],"diagnostics,":[59],"propose":[61],"DecomPose,":[62],"difficulty-aware":[64,73],"decomposition":[65],"framework":[66],"that":[67,137],"mitigates":[68],"contention":[70,143],"via:":[71],"(1)":[72],"decoupling,":[75],"which":[76,102],"groups":[77],"using":[79],"data-driven":[81],"difficulty":[82],"proxy":[83],"routes":[85],"each":[86],"instance":[87],"group-specific":[90],"correspondence":[91],"branch":[92],"isolate":[94],"updates;":[96],"(2)":[98],"stability-driven":[99],"asymmetric":[100],"branching,":[101],"assigns":[103],"higher-capacity":[104],"branches":[105,120],"structurally":[107],"simple":[108],"stable":[111],"anchors":[113],"while":[114],"constraining":[115],"complex":[116],"lightweight":[119],"suppress":[122],"noisy":[123],"updates":[124],"alleviate":[126],"transfer.":[128],"Extensive":[129],"experiments":[130],"REAL275,":[132],"CAMERA25,":[133],"HouseCat6D":[135],"demonstrate":[136],"DecomPose":[138],"effectively":[139],"reduces":[140],"delivers":[145],"superior":[146],"performance":[149],"multiple":[151],"benchmarks.":[152]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-19T00:00:00"}