Zheng Geng — accepted AI-conference papers

2026

Diffusion Knows Transparency: Repurposing Video Diffusion for Transparent Object Depth and Normal Estimation

Shaocong Xu, Songlin Wei, Qizhe Wei, Zheng Geng, Hong Li, Shen Licheng +9

ICRA 2026poster

Transparent objects remain notoriously hard for perception systems: refraction, reflection and transmission break the assumptions behind stereo, ToF and purely discriminative monocular depth, causing holes and temporally unstable estimates. Our key observation is that modern video diffusion models a…

Cited by 0 Source ↗PDF ↗Scholar ↗

2025

One View, Many Worlds: Single-Image to 3D object Meets Generative Domain Randomization for One-Shot 6D Pose Estimation

Zheng Geng, Nan Wang, Shaocong Xu, Chongjie Ye, Bohan Li, Zhaoxi Chen +2

CoRL 2025oral

Estimating the 6D pose of arbitrary objects from a single reference image is a critical yet challenging task in robotics, especially considering the long-tail distribution of real-world instances. While category-level and model-based approaches have achieved notable progress, they remain limited in…

Cited by 0 Source ↗Scholar ↗