A decoupled leg-and-thruster controller with a learned impact model improves stable walking and push recovery on a thruster-augmented quadruped robot.
Multi-Granularity Feature Calibration via VFM for Domain Generalized Semantic Segmentation
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abstract
Domain Generalized Semantic Segmentation (DGSS) aims to improve the generalization ability of models across unseen domains without access to target data during training. Recent advances in DGSS have increasingly exploited vision foundation models (VFMs) via parameter-efficient fine-tuning strategies. However, most existing approaches concentrate on global feature fine-tuning, while overlooking hierarchical adaptation across feature levels, which is crucial for precise dense prediction. In this paper, we propose Multi-Granularity Feature Calibration (MGFC), a novel framework that performs coarse-to-fine alignment of VFM features to enhance robustness under domain shifts. Specifically, MGFC first calibrates coarse-grained features to capture global contextual semantics and scene-level structure. Then, it refines medium-grained features by promoting category-level feature discriminability. Finally, fine-grained features are calibrated through high-frequency spatial detail enhancement. By performing hierarchical and granularity-aware calibration, MGFC effectively transfers the generalization strengths of VFMs to the domain-specific task of DGSS. Extensive experiments on benchmark datasets demonstrate that our method outperforms state-of-the-art DGSS approaches, highlighting the effectiveness of multi-granularity adaptation for the semantic segmentation task of domain generalization.
fields
cs.RO 1years
2025 1verdicts
UNVERDICTED 1representative citing papers
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Thruster-Enhanced Locomotion: A Decoupled Model Predictive Control with Learned Contact Residuals
A decoupled leg-and-thruster controller with a learned impact model improves stable walking and push recovery on a thruster-augmented quadruped robot.