ReSiReg clusters VLM intermediates into prototypes, derives language descriptors, and reconstructs patches as mixtures to improve spatial consistency in dense language-grounded retrieval for robotics.
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ReSiReg: Towards Spatially Consistent Semantics in Language-Conditioned Robotic Tasks
ReSiReg clusters VLM intermediates into prototypes, derives language descriptors, and reconstructs patches as mixtures to improve spatial consistency in dense language-grounded retrieval for robotics.