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Foundation models for 3D vision have recently demonstrated remarkable capabilities in 3D perception. However, extending these models to large-scale RGB stream 3D reconstruction remains challenging due to memory limitations. In this work, we…

Vector quantization (VQ) underpins modern generative and representation models by turning continuous latents into discrete tokens. Yet hard nearest-neighbor assignments are non-differentiable and are typically optimized with heuristic…

Despite its significant achievements in large-scale scene reconstruction, 3D Gaussian Splatting still faces substantial challenges, including slow processing, high computational costs, and limited geometric accuracy. These core issues arise…

Reconstructing dynamic 4D scenes from monocular videos is a fundamental yet challenging task. While recent 3D foundation models provide strong geometric priors, their performance significantly degrades in dynamic environments. This…

Vector Quantized Variational Autoencoders (VQ-VAEs) are fundamental models that compress continuous visual data into discrete tokens. Existing methods have tried to improve the quantization strategy for better reconstruction quality,…

End-to-end autonomous driving has evolved from the conventional paradigm based on sparse perception into vision-language-action (VLA) models, which focus on learning language descriptions as an auxiliary task to facilitate planning. In this…

Current multi-view indoor 3D object detectors rely on sensor geometry that is costly to obtain (i.e., precisely calibrated multi-view camera poses) to fuse multi-view information into a global scene representation, limiting deployment in…

Vector quantization(VQ) is a hardware-friendly DNN compression method that can reduce the storage cost and weight-loading datawidth of hardware accelerators. However, conventional VQ techniques lead to significant accuracy loss because the…

Recent advances in vision foundation models have revolutionized geometry reconstruction and semantic understanding. Yet, most of the existing approaches treat these capabilities in isolation, leading to redundant pipelines and compounded…

We introduce VGGT-SLAM++, a complete visual SLAM system that leverages the geometry-rich outputs of the Visual Geometry Grounded Transformer (VGGT). The system comprises a visual odometry (front-end) fusing the VGGT feed-forward transformer…

Recent advances in auto-regressive transformers have achieved remarkable success in generative modeling. However, text-to-3D generation remains challenging, primarily due to bottlenecks in learning discrete 3D representations. Specifically,…

Novel view synthesis (NVS) is increasingly relevant for edge robotics, where compact and incrementally updatable 3D scene models are needed for SLAM, navigation, and inspection under tight memory and latency budgets. Variational Bayesian…

Despite recent progress in calibration-free monocular SLAM via 3D vision foundation models, scale drift remains severe on long sequences. Motion-agnostic partitioning breaks contextual coherence and causes zero-motion drift, while…

Vision transformers (ViTs) are emerging with significantly improved accuracy in computer vision tasks. However, their complex architecture and enormous computation/storage demand impose urgent needs for new hardware accelerator design…

Large scale 3D scene reconstruction is important for applications such as virtual reality and simulation. Existing neural rendering approaches (e.g., NeRF, 3DGS) have achieved realistic reconstructions on large scenes, but optimize per…

Feedforward Gaussian Splatting has recently emerged as an efficient paradigm for 4D reconstruction in autonomous driving. However, in unstructured off-road scenes, its performance degrades due to high-frequency geometry, ego-motion jitter,…

Transformer-based general visual geometry frameworks have shown promising performance in camera pose estimation and 3D scene understanding. Recent advancements in Visual Geometry Grounded Transformer (VGGT) models have shown great promise…

We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long video streams via a sliding-window pipeline.…

Reconstructing coherent 3D geometry and appearance from unposed multi-view images is a fundamental yet challenging problem in computer vision. Most existing visual geometry foundation models predict explicit geometry by regressing…

Compressing large language models (LLMs) for deployment on commodity GPUs remains challenging: conventional scalar quantization is limited to fixed bit-widths (e.g., 8/4/3-bit), offers only a few discrete compression points, and typically…