Akira-Miranda Adeyomi Adeniran-Lowe

PAGER: Partial-to-global Alignment via Geometric and Relational Distillation

Pretrained 3D encoders are typically developed on globally reconstructed scenes expressed in a consistent world coordinate frame, whereas embodied systems must reason from partial, viewpoint-dependent observations in camera coordinates. We show that this shift from globally learned 3D feature spaces to realistic partia...