arxivcs.CVcs.AIcs.RO2026-07-17
DPNeXt: A Lightweight Multi-Scale Feature Fusion Framework for Efficient ViT-Based Multi-Task Dense Prediction
Jehun Kang, Jungha Wang, Youngjun Hwang, David Hyunchul Shim
Multi-Task Learning (MTL) in robotics perception systems supports comprehensive 3D spatial scene understanding by integrating semantic segmentation and depth estimation. While Vision Foundation Models (VFMs) are increasingly adopted as robust feature encoders, existing decoding s…