Inferring complete 3D geometry and semantics from onboard images remains challenging because occlusions and restricted fields of view leave large scene regions underconstrained. Although satellite imagery provides wide-area context, appearance cues alone offer limited structural guidance and may be unreliable because of spatial or temporal discrepancies. We present GeoScene, a geospatially guided framework that jointly uses satellite imagery and structured OpenStreetMap cues as soft priors for 3D semantic scene completion. GeoScene learns complementary voxel-wise reliability weights for onboard observations and geospatial guidance, and uses them to control feature refinement in observed and unobserved regions. This design preserves local visual evidence while exploiting large-scale road and building structure beyond onboard visibility. Experiments on SemanticKITTI and SSCBench-KITTI-360 demonstrate that GeoScene consistently improves both geometric and semantic completion under the geospatial-prior-assisted setting, with the most pronounced benefits for large-scale static and geospatially structured classes.
Meng Wang, Shougao Zhang, Wenzhe He et al.· 0 citations
Pruning is essential for the efficient deployment of Large Language Models (LLMs); however, it causes severe performance degradation due to the structural distortion induced by sparsity. Existing recovery strategies, such as LoRA, predominantly employ global fine-tuning, often overlooking the mechanistic root of this degradation: the layer-wise accumulation and amplification of local errors. To address this limitation, we propose LaCo ( La yer-wise Co mpensation), a framework that reori-ents the recovery paradigm from global adaptation to hierarchical representation alignment. By sequentially optimizing each layer to re-construct the model’s hidden states, LaCo effectively intercepts the error propagation chain at its source. Extensive experiments demonstrate that LaCo surpasses parameter-efficient baselines in both perplexity reduction and zero-shot reasoning. Notably, it reduces recovery-time memory usage to approximately 1 / 7 of the baseline and requires only 2,048 unlabeled samples to match a LoRA model trained on 50k examples—achieving a ∼ 25 × improvement in data efficiency.
Yingen Liu, Fan Wu, Xuyan Pan et al.· Annual Meeting of the Associ...· 0 citations