BZPEERReading, trust and collaboration for research
Menu

Discover

GraphFollow connections around a paper, topic or saved view.

Workspaces

HomePick up where your research flow left off.InboxHandle requests, replies and notifications from one place.CollectionsCurate reading lists, evidence sets and shareable dossiers.ResearchSee your private provenance graph, trail and imports.CollaborationMove from discovery into focused discussion rooms.PublishDraft, preview and publish full-text research articles.

Network

ExpertsFind specialists worth following or asking for help.CommunitiesJoin research circles organized around shared work.PartnersSee external organizations active around the same topics.

Opportunities

ListingsBrowse roles, calls and collaborations with clearer fit signals.

Account

Log inReturn to your reading and collaboration workspace.Create accountStart saving work, following people and joining teams.
Log inCreate account

Researcher profile

Yasutaka Furukawa

Yasutaka Furukawa contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer VisionMachine LearningRobotics

Trust snapshot

Quick read

Trust 21 - EmergingVerification L1Unclaimed author
7works
0followers
3topics
4close collaborators

Actions

Decide how to stay connected

Follow researcher0

Identity and collaboration

How to connect with this researcher

Claiming links this public author record to a researcher profile and unlocks direct collaboration workflows.

Log in to claim

Direct collaboration

Open a focused conversation when the fit is right

Claim this author entity first to unlock direct invitations.

Research graph

See the researcher in context

Open full explorer

Inspect adjacent work, topics, institutions and collaborators without jumping out to a separate graph page.

Building this graph slice

BZPEER is loading the nearby papers, people, topics and institutions for this page.

Published work

7 published item(s)

preprint2026arXiv

LA-Pose: Latent Action Pretraining Meets Pose Estimation

This paper revisits camera pose estimation through the lens of self-supervised pretraining, focusing on inverse-dynamics pretraining as a scalable alternative to the current trend of fully supervised training with 3D annotations. Concretely, we employ inverse- and forward-dynamics models to learn latent action representations, similar to Genie from large-scale driving videos. Our idea is simple yet effective. Existing methods use latent actions in their original capacity, that is, as action conditioning of world-models or as proxies of robot action parameters in policy networks. Our method, dubbed LA-Pose, repurposes the latent action features as inputs to a camera pose estimator, finetuned on a limited set of high-quality 3D annotations. This formulation enables accurate and generalizable pose prediction while maintaining feed-forward efficiency. Extensive experiments on driving benchmarks show that LA-Pose achieves competitive and even superior performance to state-of-the-art methods while using orders of magnitude less labeled data. Concretely, on the Waymo and PandaSet benchmarks, LA-Pose achieves over 10% higher pose accuracy than recent feed-forward methods. To our knowledge, this work is the first to demonstrate the power of inverse-dynamics self-supervised learning for pose estimation.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

HEAT: Holistic Edge Attention Transformer for Structured Reconstruction

This paper presents a novel attention-based neural network for structured reconstruction, which takes a 2D raster image as an input and reconstructs a planar graph depicting an underlying geometric structure. The approach detects corners and classifies edge candidates between corners in an end-to-end manner. Our contribution is a holistic edge classification architecture, which 1) initializes the feature of an edge candidate by a trigonometric positional encoding of its end-points; 2) fuses image feature to each edge candidate by deformable attention; 3) employs two weight-sharing Transformer decoders to learn holistic structural patterns over the graph edge candidates; and 4) is trained with a masked learning strategy. The corner detector is a variant of the edge classification architecture, adapted to operate on pixels as corner candidates. We conduct experiments on two structured reconstruction tasks: outdoor building architecture and indoor floorplan planar graph reconstruction. Extensive qualitative and quantitative evaluations demonstrate the superiority of our approach over the state of the art. Code and pre-trained models are available at https://heat-structured-reconstruction.github.io.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Neural Inertial Localization

This paper proposes the inertial localization problem, the task of estimating the absolute location from a sequence of inertial sensor measurements. This is an exciting and unexplored area of indoor localization research, where we present a rich dataset with 53 hours of inertial sensor data and the associated ground truth locations. We developed a solution, dubbed neural inertial localization (NILoc) which 1) uses a neural inertial navigation technique to turn inertial sensor history to a sequence of velocity vectors; then 2) employs a transformer-based neural architecture to find the device location from the sequence of velocities. We only use an IMU sensor, which is energy efficient and privacy preserving compared to WiFi, cameras, and other data sources. Our approach is significantly faster and achieves competitive results even compared with state-of-the-art methods that require a floorplan and run 20 to 30 times slower. We share our code, model and data at https://sachini.github.io/niloc.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

SkexGen: Autoregressive Generation of CAD Construction Sequences with Disentangled Codebooks

We present SkexGen, a novel autoregressive generative model for computer-aided design (CAD) construction sequences containing sketch-and-extrude modeling operations. Our model utilizes distinct Transformer architectures to encode topological, geometric, and extrusion variations of construction sequences into disentangled codebooks. Autoregressive Transformer decoders generate CAD construction sequences sharing certain properties specified by the codebook vectors. Extensive experiments demonstrate that our disentangled codebook representation generates diverse and high-quality CAD models, enhances user control, and enables efficient exploration of the design space. The code is available at https://samxuxiang.github.io/skexgen.

0 citations0 reviewsNo code linkedOpen access
preprint2021arXiv

House-GAN++: Generative Adversarial Layout Refinement Networks

This paper proposes a novel generative adversarial layout refinement network for automated floorplan generation. Our architecture is an integration of a graph-constrained relational GAN and a conditional GAN, where a previously generated layout becomes the next input constraint, enabling iterative refinement. A surprising discovery of our research is that a simple non-iterative training process, dubbed component-wise GT-conditioning, is effective in learning such a generator. The iterative generator also creates a new opportunity in further improving a metric of choice via meta-optimization techniques by controlling when to pass which input constraints during iterative layout refinement. Our qualitative and quantitative evaluation based on the three standard metrics demonstrate that the proposed system makes significant improvements over the current state-of-the-art, even competitive against the ground-truth floorplans, designed by professional architects.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

House-GAN: Relational Generative Adversarial Networks for Graph-constrained House Layout Generation

This paper proposes a novel graph-constrained generative adversarial network, whose generator and discriminator are built upon relational architecture. The main idea is to encode the constraint into the graph structure of its relational networks. We have demonstrated the proposed architecture for a new house layout generation problem, whose task is to take an architectural constraint as a graph (i.e., the number and types of rooms with their spatial adjacency) and produce a set of axis-aligned bounding boxes of rooms. We measure the quality of generated house layouts with the three metrics: the realism, the diversity, and the compatibility with the input graph constraint. Our qualitative and quantitative evaluations over 117,000 real floorplan images demonstrate that the proposed approach outperforms existing methods and baselines. We will publicly share all our code and data.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Vectorizing World Buildings: Planar Graph Reconstruction by Primitive Detection and Relationship Inference

This paper tackles a 2D architecture vectorization problem, whose task is to infer an outdoor building architecture as a 2D planar graph from a single RGB image. We provide a new benchmark with ground-truth annotations for 2,001 complex buildings across the cities of Atlanta, Paris, and Las Vegas. We also propose a novel algorithm utilizing 1) convolutional neural networks (CNNs) that detects geometric primitives and infers their relationships and 2) an integer programming (IP) that assembles the information into a 2D planar graph. While being a trivial task for human vision, the inference of a graph structure with an arbitrary topology is still an open problem for computer vision. Qualitative and quantitative evaluations demonstrate that our algorithm makes significant improvements over the current state-of-the-art, towards an intelligent system at the level of human perception. We will share code and data.

0 citations0 reviewsNo code linkedOpen access