SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimation

Category-level object pose estimation, aiming to predict the 6D pose and 3D size of objects from known categories, typically struggles with large intra-class shape variation. Existing works utilizing mean shapes often fall short of capturing this variation. To address this issue, we present SecondPose, a novel approach integrating object-specific geometric features with semantic category priors from DINOv2. Leveraging the advantage of DINOv2 in providing SE(3)-consistent semantic features, we hierarchically extract two types of SE(3)-invariant geometric features to further encapsulate local-to-global object-specific information. These geometric features are then point-aligned with DINOv2 features to establish a consistent object representation under SE(3) transformations, facilitating the mapping from camera space to the pre-defined canonical space, thus further enhancing pose estimation. Extensive experiments on NOCS-REAL275 demonstrate that SecondPose achieves a 12.4% leap forward over the state-of-the-art. Moreover, on a more complex dataset HouseCat6D which provides photometrically challenging objects, SecondPose still surpasses other competitors by a large margin. The code will be released soon.

LOT: A Benchmark for Evaluating Chinese Long Text Understanding and Generation

Standard multi-task benchmarks are essential for driving the progress of general pretraining models to generalize to various downstream tasks. However, existing benchmarks such as GLUE and GLGE tend to focus on short text understanding and generation tasks, without considering long text modeling, which requires many distinct capabilities such as modeling long-range commonsense and discourse relations, as well as the coherence and controllability of generation. The lack of standardized benchmarks makes it difficult to fully evaluate these capabilities of a model and fairly compare different models, especially Chinese pretraining models. Therefore, we propose LOT, a benchmark including two understanding and two generation tasks for Chinese long text modeling evaluation. We construct the datasets for the tasks based on various kinds of human-written Chinese stories. Besides, we release an encoder-decoder Chinese long text pretraining model named LongLM with up to 1 billion parameters. We pretrain LongLM on 120G Chinese novels with two generative tasks including text infilling and conditional continuation. Extensive experiments on LOT demonstrate that LongLM matches the performance of similar-sized pretraining models on the understanding tasks and outperforms strong baselines substantially on the generation tasks.