# FPG-NAS: FLOPs-Aware Gated Differentiable Neural Architecture Search for Efficient 6DoF Pose Estimation

arXiv: https://arxiv.org/abs/2508.03618 · HTML: https://mlsanity.com/paper/2508.03618/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 35 of its 45 references that are in the map.
- First posted on arXiv 5 Aug 2025.

## Builds on (most cited first, 30 of 35)

- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [Categorical Reparameterization with Gumbel-Softmax](https://mlsanity.com/paper/1611.01144/) (2016)
- [DARTS: Differentiable Architecture Search](https://mlsanity.com/paper/1806.09055/) (2018)
- [Mixed Precision Training](https://mlsanity.com/paper/1710.03740/) (2017)
- [PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes](https://mlsanity.com/paper/1711.00199/) (2017)
- [ProxylessNAS: Direct Neural Architecture Search on Target Task and Hardware](https://mlsanity.com/paper/1812.00332/) (2018)
- [FBNet: Hardware-Aware Efficient ConvNet Design via Differentiable Neural Architecture Search](https://mlsanity.com/paper/1812.03443/) (2018)
- [Single Path One-Shot Neural Architecture Search with Uniform Sampling](https://mlsanity.com/paper/1904.00420/) (2019)
- [QuIP: 2-Bit Quantization of Large Language Models With Guarantees](https://mlsanity.com/paper/2307.13304/) (2023)
- [GhostNet: More Features from Cheap Operations](https://mlsanity.com/paper/1911.11907/) (2019)
- [PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation](https://mlsanity.com/paper/1812.11788/) (2018)
- [DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion](https://mlsanity.com/paper/1901.04780/) (2019)
- [SNAS: Stochastic Neural Architecture Search](https://mlsanity.com/paper/1812.09926/) (2018)
- [CosyPose: Consistent multi-view multi-object 6D pose estimation](https://mlsanity.com/paper/2008.08465/) (2020)
- [SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again](https://mlsanity.com/paper/1711.10006/) (2017)
- [Real-Time Seamless Single Shot 6D Object Pose Prediction](https://mlsanity.com/paper/1711.08848/) (2017)
- [PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation](https://mlsanity.com/paper/1911.04231/) (2019)
- [ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimation](https://mlsanity.com/paper/2203.09418/) (2022)
- [GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondence](https://mlsanity.com/paper/2311.14155/) (2023)
- [FoundPose: Unseen Object Pose Estimation with Foundation Features](https://mlsanity.com/paper/2311.18809/) (2023)
- [EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose Estimation](https://mlsanity.com/paper/2303.12787/) (2023)
- [SPEED+: Next-Generation Dataset for Spacecraft Pose Estimation across Domain Gap](https://mlsanity.com/paper/2110.03101/) (2021)
- [EfficientPose: An efficient, accurate and scalable end-to-end 6D multi object pose estimation approach](https://mlsanity.com/paper/2011.04307/) (2020)
- [Robust Multi-Task Learning and Online Refinement for Spacecraft Pose Estimation across Domain Gap](https://mlsanity.com/paper/2203.04275/) (2022)
- [A Survey on Deep Learning-Based Monocular Spacecraft Pose Estimation: Current State, Limitations and Prospects](https://mlsanity.com/paper/2305.07348/) (2023)
- [GDP: Stabilized Neural Network Pruning via Gates with Differentiable Polarization](https://mlsanity.com/paper/2109.02220/) (2021)
- [6D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimation](https://mlsanity.com/paper/2401.00029/) (2023)
- [HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation](https://mlsanity.com/paper/2204.09429/) (2022)
- [Knowledge Distillation for 6D Pose Estimation by Aligning Distributions of Local Predictions](https://mlsanity.com/paper/2205.14971/) (2022)
- [Improving Differentiable Architecture Search via Self-Distillation](https://mlsanity.com/paper/2302.05629/) (2023)

## Built on by (most cited first, 1 of 1)

- [Cov2Pose: Leveraging Spatial Covariance for Direct Manifold-aware 6-DoF Object Pose Estimation](https://mlsanity.com/paper/2603.19961/) (2026)

## Abstract (arXiv)

We introduce FPG-NAS, a FLOPs-aware Gated Differentiable Neural Architecture Search framework for efficient 6DoF object pose estimation. Estimating 3D rotation and translation from a single image has been widely investigated yet remains computationally demanding, limiting applicability in resource-constrained scenarios. FPG-NAS addresses this by proposing a specialized differentiable NAS approach for 6DoF pose estimation, featuring a task-specific search space and a differentiable gating mechanism that enables discrete multi-candidate operator selection, thus improving architectural diversity. Additionally, a FLOPs regularization term ensures a balanced trade-off between accuracy and efficiency. The framework explores a vast search space of approximately 10textsuperscript92 possible architectures. Experiments on the LINEMOD and SPEED+ datasets demonstrate that FPG-NAS-derived models outperform previous methods under strict FLOPs constraints. To the best of our knowledge, FPG-NAS is the first differentiable NAS framework specifically designed for 6DoF object pose estimation.