Object-level priors from Segment Anything made self-supervised depth sharper
AspireAI community · arXiv
Most depth estimation methods ignore object-level information, so predicted depth drifts within objects and blurs under adverse conditions. RoSAMDepth injects Segment Anything's object-level priors into self-supervised depth estimation in three ways: a segment-guided representation contrasting method that puts object awareness into the feature space; an adaptive regional outlier masking strategy combined with a regional Gaussian likelihood loss that enforces depth smoothness within regions; and an object-level reliability estimation strategy that down-weights unreliable supervision. Across multiple datasets and weather conditions the authors report sharper and more accurate depth predictions, consistently beating state-of-the-art methods, with code released. Published in CVPR 2026.
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Two sparse-autoencoder analyses have resisted scaling: matching semantically similar features across layers, and compressing large feature circuits into interpretable supernodes. This paper argues both are the same underlying problem, estimating semantic distances between SAE features that sit on different activation manifolds. Its representation treats each feature not as a single decoder vector but as an activation-weighted distribution over the hidden states expressing it, projects those distributions into a shared reference space, and compares them with Wasserstein distance. The representation is proved invariant to activation rescaling and stable under perturbation, and recovers true matches under finite-sample margin conditions. Empirically it outperformed decoder-vector and LLM-based baselines and captured subtle functional distinctions between related features, and it compressed large feature circuits into interpretable supernodes automatically. The limitation is that this is interpretability tooling: the paper demonstrates better feature matching and circuit compression, not that downstream interpretability claims become more accurate.