Surabhi Narayan

Aditya Nalgunda Ganesh, Dhruval Pobbathi Badrinath, Harshith Mohan Kumar et al.

Modern approaches for vision-centric environment perception for autonomous navigation make extensive use of self-supervised monocular depth estimation algorithms that output disparity maps. However, when this disparity map is projected onto 3D space, the errors in disparity are magnified, resulting in a depth estimation error that increases quadratically as the distance from the camera increases. Though Light Detection and Ranging (LiDAR) can solve this issue, it is expensive and not feasible for many applications. To address the challenge of accurate ranging with low-cost sensors, we propose, OCTraN, a transformer architecture that uses iterative-attention to convert 2D image features into 3D occupancy features and makes use of convolution and transpose convolution to efficiently operate on spatial information. We also develop a self-supervised training pipeline to generalize the model to any scene by eliminating the need for LiDAR ground truth by substituting it with pseudo-ground truth labels obtained from boosted monocular depth estimation.

Padegal Amit, Omkar Mahesh Kashyap, Namitha Rayasam et al.

Quantifying modality contributions in multimodal models remains a challenge, as existing approaches conflate the notion of contribution itself. Prior work relies on accuracy-based approaches, interpreting performance drops after removing a modality as indicative of its influence. However, such outcome-driven metrics fail to distinguish whether a modality is inherently informative or whether its value arises only through interaction with other modalities. This distinction is particularly important in cross-attention architectures, where modalities influence each other's representations. In this work, we propose a framework based on Partial Information Decomposition (PID) that quantifies modality contributions by decomposing predictive information in internal embeddings into unique, redundant, and synergistic components. To enable scalable, inference-only analysis, we develop an algorithm based on the Iterative Proportional Fitting Procedure (IPFP) that computes layer and dataset-level contributions without retraining. This provides a principled, representation-level view of multimodal behavior, offering clearer and more interpretable insights than outcome-based metrics.