Datasets:
clean release: remove in-progress/hedging language, causal test framed as future work
Browse files
README.md
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@@ -187,9 +187,9 @@ per-image ground-plane strength (median rho) clusters near KITTI (-0.79 vs -0.82
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A depth model learns geometry, not texture, so the game corpus hands it an outdoor ground-plane prior that
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happens to be exactly right for real driving scenes and exactly wrong for cluttered interiors. This single
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mechanism explains the whole pattern of results: the outdoor win, the indoor gap, and the value of the data
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as a prior.
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holding the game RGB fixed while
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transfer
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## 5. Indoor is the frontier
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## 7. Where this goes (v0.3.0)
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- Scale: more frames and denser sampling, to test whether the outdoor margin widens (a data-scaling
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- Coverage: indoor and more varied scenes, to convert the indoor frontier into a strength.
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## 8. Dataset composition
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@@ -292,7 +293,7 @@ validated by Depth-Anything-V2 reproducing its published NYU number (about 0.055
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native resolution, because its roughly 3.4:1 frames are otherwise squashed and blurred. The controlled
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comparison is ours vs Lotus (identical recipe, only the data differs); Marigold and Depth-Anything-V2 are
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external checkpoints included as reference points, with inference settings disclosed. Depth only; normals
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are out of scope. Point estimates are single-seed
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Training footprint: the trained component is the SD2-base UNet (about 0.87B trainable parameters; VAE and
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text encoder frozen), run for 6000 steps at effective batch 32, so roughly 192k images are seen, about 11
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A depth model learns geometry, not texture, so the game corpus hands it an outdoor ground-plane prior that
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| 188 |
happens to be exactly right for real driving scenes and exactly wrong for cluttered interiors. This single
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| 189 |
mechanism explains the whole pattern of results: the outdoor win, the indoor gap, and the value of the data
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as a prior. This is a correlation grounded in the mechanism a monocular depth model actually learns; a
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direct causal test (holding the game RGB fixed while destroying the depth geometry and measuring the drop
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in transfer) is described as future work in Section 7.
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## 5. Indoor is the frontier
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| 251 |
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| 252 |
## 7. Where this goes (v0.3.0)
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| 253 |
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| 254 |
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- Scale: more frames and denser sampling, to test whether the outdoor margin widens (a data-scaling study
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measures whether the task is still data-limited).
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- Coverage: indoor and more varied scenes, to convert the indoor frontier into a strength.
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- Causal test: a depth-corruption ablation (holding RGB fixed, destroying the depth geometry, and measuring
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the drop in transfer) to move the geometry mechanism from correlation to causation.
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- Confidence: multi-seed variance and confidence intervals on every headline number.
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## 8. Dataset composition
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native resolution, because its roughly 3.4:1 frames are otherwise squashed and blurred. The controlled
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| 294 |
comparison is ours vs Lotus (identical recipe, only the data differs); Marigold and Depth-Anything-V2 are
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| 295 |
external checkpoints included as reference points, with inference settings disclosed. Depth only; normals
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| 296 |
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are out of scope. Point estimates are single-seed; multi-seed variance is noted as future work in Section 7.
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| 297 |
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| 298 |
Training footprint: the trained component is the SD2-base UNet (about 0.87B trainable parameters; VAE and
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| 299 |
text encoder frozen), run for 6000 steps at effective batch 32, so roughly 192k images are seen, about 11
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