2025
RFMPose: Generative Category-level Object Pose Estimation via Riemannian Flow Matching
NeurIPS 2025poster
We introduce RFMPose, a novel generative framework for category-level 6D object pose estimation that learns deterministic pose trajectories through Riemannian Flow Matching (RFM). Existing discriminative approaches struggle with multi-hypothesis predictions (e.g., symmetry ambiguities) and often req…