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2026-07-08

3 saved articles

  1. Vision Pretraining for Dense Spatial Perception

    [Submitted on 6 Jul 2026] · arXiv.org

    Dense spatial perception is essential for physical intelligence, where visual systems are expected to recover structured, metric, and actionable representations from pixel observations. Modern visual foundation models tend to prioritize semantic invariance, often at the expense of detailed spatial understanding. In this work, we study vision pretraining through a boundary-centric lens, motivated by the premise that boundaries and shape discontinuities offer essential cues for perceiving geometri