LiteViLNet is a lightweight RGB‑geometry fusion network for road segmentation that uses a MobileNetV3 RGB encoder and a tiny depth‑wise‑separable geometry encoder. Its multi‑scale fusion module enhances modality‑specific features, performs cross‑modal interaction, and applies adaptive gating, while a depth‑wise large‑kernel bridge expands contextual support with minimal overhead. The U‑Net‑style decoder is trained with deep supervision, achieving state‑of‑the‑art performance on KITTI and ORFD benchmarks and running at up to 68.73 FPS on a Jetson Orin NX with TensorRT FP16.
By Daojie Peng, Bingtao Wang, Fulong Ma, Liang Zhang, Jun Ma
arXiv:2609.38620v1 Announce Type: new
Abstract: Neural implicit representations have had a significant impact on scene reconstruction by enabling robots to build continuous, differentiable, and high-...
By Hanwen Cao, Wenqiang Wu, Kuang-Ting Tu, Mathias Otnes, Jeffrey Delmerico, Rui Wang, Yulun Tian, Nikolay Atanasov
SAM‑V is a geometry‑aware extension of the Segment Anything Model (SAM) that integrates 3D priors from a feed‑forward geometry model (VGGT) into 2D segmentation. It uses a prompt‑fusion mechanism to combine sparse SAM prompts with view‑specific camera tokens and local VGGT features, enabling a mask decoder that attends to both dense 2D and 3D cues. The resulting end‑to‑end system produces consistent multi‑view instance segmentation in a single forward pass, achieving significant gains on the IGGT 3D tracking benchmark without offline mask matching or explicit 3D reconstruction.
By Jiangshan Gong, Yuqun Wu, Qiqian Fu, Yao Xiao, Chuhang Zou, Shenlong Wang, Derek Hoiem
arXiv:2606. 09131v1 Announce Type: new Abstract: Multimodal large language models (MLLMs) commonly inherit the deep, symmetric Transformer backbone designed for unimodal text modeling, and apply the same computation uniformly to image and language tokens.
By Siyuan Liu, Jinyang Wu
arXiv:2606. 20246v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models pre-trained on massive video-robot datasets have revolutionized robotic manipulation, yet their multi-billion parameter architectures impose prohibitive computational burdens during downstream fine-tuning and real-time inference.
By Gia-Binh Nguyen, Trong-Bao Ho, Thien-Loc Ha, Khoa Vo, Philip Lund M{\o}ller, Quang T. Nguyen, Long Dinh, Tuan Dam, Vu Duong, Tung M. Luu, Trung Le, Tran Nguyen Le, Minh Vu, An Thai Le, Ngan Le, Daniel Sonntag, James Zou, Jan Peters, Duy M. H. Nguyen, Ngo Anh Vien
arXiv:2604.19609v2 Announce Type: replace
Abstract: Transformers have become a common foundation across deep learning, yet 3D scene understanding still relies on specialized backbones with strong dom...
By Kadir Yilmaz, Adrian Kruse, Tristan H\"ofer, Daan de Geus, Bastian Leibe
arXiv:2608.20788v1 Announce Type: new
Abstract: Deep learning-based Multi-View Stereo (MVS) has advanced significantly but often generalizes poorly to unseen scenes, particularly in occluded areas or...
By Byeonggwon Lee, Sanggi Lee, Siwoo Lee, Khang Truong Giang, Soohwan Song
Visual Perception Engine (VPEngine) is a modular framework that enables efficient GPU usage for robotic vision tasks by sharing a foundation model backbone across multiple specialized task heads. It eliminates redundant feature extraction, supports dynamic task prioritization, and achieves up to 3× speedup over sequential execution. The open‑source Python implementation, with ROS2 C++ bindings, delivers real‑time performance (≥50 Hz) on NVIDIA Jetson Orin AGX using TensorRT‑optimized models.
By Jakub {\L}ucki, Jonathan Becktor, Georgios Georgakis, Rob Royce, Shehryar Khattak
The paper introduces MemMTL, a multi‑task dense prediction framework that uses a compact task state derived from global visual context and refines it via a learnable prototype memory. This refined state informs task‑conditioned expert logits, which are combined with token‑level logits and routed through a sparse top‑k selection over a shared local expert bank. A task‑agnostic residual bank offers a common adaptation path, and both paths are added to the backbone feature before task‑specific prediction. The authors outline an evaluation protocol on NYUD‑v2 and PASCAL‑Context using SAM 3 and ViT‑L backbones to assess predictive quality, computational cost, and the contributions of task‑state conditioning, prototype retrieval, and sparse routing.
By Yangyang Xu, Haobo Yuan, Yuzhu Wang, Duo Su, Xi Ye, Yibo Yang, Jun Zhu
arXiv:2610.01286v1 Announce Type: new
Abstract: Recent depth foundation models like Depth Anything 3 (DA3) achieve remarkable multi-view depth estimation but assume static 3D scenes, limiting their a...
By Xinhao Xiang, Weiyang Li, Zhijie Zheng, Abhijeet Rastogi, Jiawei Zhang
arXiv:2609.23733v1 Announce Type: new
Abstract: Feed-forward visual geometry models such as the Visual Geometry Grounded Transformer (VGGT) have recently enabled direct 3D reconstruction from multi-v...
By Abteen Arab, Guile Wu, Chengjie Huang, Dongfeng Bai
arXiv:2607. 00514v1 Announce Type: cross Abstract: Automatic understanding of dynamic 4D point clouds, the 3D-point sequences captured over time by depth sensors and LiDAR, is central to robotics and embodied perception.
By Trung Thanh Nguyen, Hai Nguyen-Truong, Tu Vo, Hoang M. Truong, Tuan-Anh Vu