Author

Gautham Mohan

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#small language model Preprint Sep 2026

Semantically-Guided Domain Randomization for Industrial Object Detection in Low-Image-Budget Regimes

Semantically-Guided Domain Randomization (S-GDR), an annotation-free adaptation pipeline that couples Vision-Language Model (VLM)-based semantic captioning of a small unannotated real reference set with diffusion-based background synthesis with diffusion-based background synthesis (Stable Diffusion XL conditioned by Co...

Jose Moises Araya-Martinez, Gautham Mohan, Jens Lambrecht · 0 citations

Jul 2026

PIXIE: A Zero-Shot texture-invariant 6D pose estimation framework for unseen objects with assembly defects

PIXIE is a zero-shot framework that estimates the 6D pose of an object from an RGB image using only an untextured 3D model, inherently robust to lighting and texture variation, while correspondence filtering handles geometric deviations between the model and physical object.

Leon Jungemeyer, A. Magaña, Gautham Mohan et al. · arXiv.org · 0 citations