LeanGate is a lightweight feed-forward network that predicts geometric utility scores to skip over 90% of redundant frames in GFM-based monocular SLAM, reducing tracking FLOPs by 85% and achieving 5x speedup while maintaining accuracy.
Scannet++: A high-fidelity dataset of 3d indoor scenes,
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A zero-shot framework that recovers part articulations and produces simulation-compatible interactive 3D scene replicas from static inputs.
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Accelerating Transformer-Based Monocular SLAM via Geometric Utility Scoring
LeanGate is a lightweight feed-forward network that predicts geometric utility scores to skip over 90% of redundant frames in GFM-based monocular SLAM, reducing tracking FLOPs by 85% and achieving 5x speedup while maintaining accuracy.
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REACT3D: Recovering Articulations for Interactive Physical 3D Scenes
A zero-shot framework that recovers part articulations and produces simulation-compatible interactive 3D scene replicas from static inputs.