4 papers
VeriGraph: Scene Graphs for Execution Verifiable Robot Planning
Daniel Ekpo, Mara Levy, Saksham Suri +3
Recent progress in vision-language models (VLMs) has opened new possibilities for robot task planning, but these models often produce incorrect action sequences. To address these l…
UPLiFT: Efficient Pixel-Dense Feature Upsampling with Local Attenders
Matthew Walmer, Saksham Suri, Anirud Aggarwal +1
The space of task-agnostic feature upsampling has emerged as a promising area of research to efficiently create denser features from pre-trained visual backbones. These methods act…
LARP: Tokenizing Videos with a Learned Autoregressive Generative Prior
Hanyu Wang, Saksham Suri, Yixuan Ren +2
We present LARP, a novel video tokenizer designed to overcome limitations in current video tokenization methods for autoregressive (AR) generative models. Unlike traditional patchw…
LiFT: A Surprisingly Simple Lightweight Feature Transform for Dense ViT Descriptors
Saksham Suri, Matthew Walmer, Kamal Gupta +1
We present a simple self-supervised method to enhance the performance of ViT features for dense downstream tasks. Our Lightweight Feature Transform (LiFT) is a straightforward and…