相关论文: Grid-augmented vision: A simple yet effective appr…

A detailed environment perception is a crucial component of automated vehicles. However, to deal with the amount of perceived information, we also require segmentation strategies. Based on a grid map environment representation, well-suited…

Alignment of large language models remains a central challenge in natural language processing. Preference optimization has emerged as a popular and effective method for improving alignment, typically through training-time or prompt-based…

Grid cells in the entorhinal cortex encode the position of an animal in its environment using spatially periodic tuning curves of varying periodicity. Recent experiments established that these cells are functionally organized in discrete…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Current vision models typically maintain a fixed correspondence between their representation structure and image space. Each layer comprises a set of tokens arranged "on-the-grid," which biases patches or tokens to encode information at a…

Large foundation models trained on large-scale vision-language data can boost Open-Vocabulary Object Detection (OVD) via synthetic training data, yet the hand-crafted pipelines often introduce bias and overfit to specific prompts. We…

Grid-based structures are commonly used to encode explicit features for graphics primitives such as images, signed distance functions (SDF), and neural radiance fields (NeRF) due to their simple implementation. However, in $n$-dimensional…

Weakly supervised visual grounding aims to predict the region in an image that corresponds to a specific linguistic query, where the mapping between the target object and query is unknown in the training stage. The state-of-the-art method…

This paper introduces a novel unsupervised neural network model for visual information encoding which aims to address the problem of large-scale visual localization. Inspired by the structure of the visual cortex, the model (namely HSD)…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

Higher-dimensional spaces are ubiquitous in applications of mathematics. Yet, as we live in a three-dimensional space, visualizing, say, a four-dimensional space is challenging. We introduce a novel method of interactive visualization of…

Positional encoding is important for vision transformer (ViT) to capture the spatial structure of the input image. General effectiveness has been proven in ViT. In our work we propose to train ViT to recognize the positional label of…

This study investigates the spatial reasoning capabilities of vision-language models (VLMs) through Chain-of-Thought (CoT) prompting and reinforcement learning. We begin by evaluating the impact of different prompting strategies and find…

We introduce anchored radial observations (ARO), a novel shape encoding for learning implicit field representation of 3D shapes that is category-agnostic and generalizable amid significant shape variations. The main idea behind our work is…

Vision-Language Encoders (VLEs) are widely adopted as the backbone of zero-shot referring image segmentation (RIS), enabling text-guided localization without task-specific training. However, prior works underexplored the underlying biases…

This paper presents MetricGrids, a novel grid-based neural representation that combines elementary metric grids in various metric spaces to approximate complex nonlinear signals. While grid-based representations are widely adopted for their…

Object-oriented maps are important for scene understanding since they jointly capture geometry and semantics, allow individual instantiation and meaningful reasoning about objects. We introduce FroDO, a method for accurate 3D reconstruction…

Graph neural networks (GNNs) provide a powerful and scalable solution for modeling continuous spatial data. However, they often rely on Euclidean distances to construct the input graphs. This assumption can be improbable in many real-world…

Accurate prediction of driving scene is a challenging task due to uncertainty in sensor data, the complex behaviors of agents, and the possibility of multiple feasible futures. Existing prediction methods using occupancy grid maps primarily…