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

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

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 robotic platforms where perception, planning, and control share limited computational resources, while learned intermediate representations offer limited geometric interpretability for task-specific adaptation. To address these limitations, we propose G6D, a learning-free, geometry

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