Jan Olszewski

Jan Olszewski, Dawid Rymarczyk, Piotr Wójcik et al.

Active Visual Exploration (AVE) optimizes the utilization of robotic resources in real-world scenarios by sequentially selecting the most informative observations. However, modern methods require a high computational budget due to processing the same observations multiple times through the autoencoder transformers. As a remedy, we introduce a novel approach to AVE called TOken REcycling (TORE). It divides the encoder into extractor and aggregator components. The extractor processes each observation separately, enabling the reuse of tokens passed to the aggregator. Moreover, to further reduce the computations, we decrease the decoder to only one block. Through extensive experiments, we demonstrate that TORE outperforms state-of-the-art methods while reducing computational overhead by up to 90\%.

Adam Pardyl, Grzegorz Kurzejamski, Jan Olszewski et al.

Vision transformers have excelled in various computer vision tasks but mostly rely on rigid input sampling using a fixed-size grid of patches. It limits their applicability in real-world problems, such as active visual exploration, where patches have various scales and positions. Our paper addresses this limitation by formalizing the concept of input elasticity for vision transformers and introducing an evaluation protocol for measuring this elasticity. Moreover, we propose modifications to the transformer architecture and training regime, which increase its elasticity. Through extensive experimentation, we spotlight opportunities and challenges associated with such architecture.

Jan Olszewski

Neural Radiance Fields has become a prominent method of scene generation via view synthesis. A critical requirement for the original algorithm to learn meaningful scene representation is camera pose information for each image in a data set. Current approaches try to circumnavigate this assumption with moderate success, by learning approximate camera positions alongside learning neural representations of a scene. This requires complicated camera models, causing a long and complicated training process, or results in a lack of texture and sharp details in rendered scenes. In this work we introduce Hash Color Correction (HashCC) -- a lightweight method for improving Neural Radiance Fields rendered image quality, applicable also in situations where camera positions for a given set of images are unknown.