Of course, both organs and embryos are able to be regenerated directly from explants without calli formation. If you type in Academic Google you'll find many articles and book chapters. Unfortunatelly, direct organogenesys/embryogenesys is not frequent. Only few species and/or tissues are amenable for direct regeneration.
In direct somatic embryogenesis, somatic embryos or embryogenic tissue are formed directly from the explant without the formation of an intermediate callus phase.