{"id":"https://openalex.org/W4407186933","doi":"https://doi.org/10.48550/arxiv.2502.02562","title":"Learning the RoPEs: Better 2D and 3D Position Encodings with STRING","display_name":"Learning the RoPEs: Better 2D and 3D Position Encodings with STRING","publication_year":2025,"publication_date":"2025-02-04","ids":{"openalex":"https://openalex.org/W4407186933","doi":"https://doi.org/10.48550/arxiv.2502.02562"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2502.02562","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2502.02562","pdf_url":"https://arxiv.org/pdf/2502.02562","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2502.02562","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004337298","display_name":"Connor Schenck","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Schenck, Connor","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089700738","display_name":"Isaac Reid","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Reid, Isaac","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059566769","display_name":"Mithun George Jacob","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jacob, Mithun George","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043765267","display_name":"Alex Bewley","orcid":"https://orcid.org/0000-0002-8428-9264","observed_orcids":["https://orcid.org/0000-0002-8428-9264"]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bewley, Alex","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072605113","display_name":"Joshua Ainslie","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ainslie, Joshua","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091963000","display_name":"David Rendleman","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rendleman, David","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jain, Deepali","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jain, Deepali","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102792137","display_name":"Mohit Kumar Sharma","orcid":"https://orcid.org/0000-0002-5680-9111","observed_orcids":["https://orcid.org/0000-0002-5680-9111","https://orcid.org/0009-0006-6149-7411"]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sharma, Mohit","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047098924","display_name":"Avinava Dubey","orcid":"https://orcid.org/0000-0002-4611-6194","observed_orcids":["https://orcid.org/0000-0002-4611-6194"]},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dubey, Avinava","raw_affiliation_strings":["Google Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google Research","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051147070","display_name":"Ayzaan Wahid","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wahid, Ayzaan","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101898346","display_name":"Sumeet Singh","orcid":"https://orcid.org/0000-0003-4510-5853","observed_orcids":["https://orcid.org/0000-0003-4510-5853"]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Singh, Sumeet","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108403016","display_name":"Ren\u00e9 Wagner","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wagner, Ren\u00e9","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001795595","display_name":"Tianli Ding","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ding, Tianli","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069825251","display_name":"Chuyuan Fu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Fu, Chuyuan","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037305533","display_name":"Arunkumar Byravan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Byravan, Arunkumar","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066125048","display_name":"Jake Varley","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Varley, Jake","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083585691","display_name":"Alexey A. Gritsenko","orcid":"https://orcid.org/0000-0003-1799-2301","observed_orcids":["https://orcid.org/0000-0003-1799-2301"]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Gritsenko, Alexey","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088239541","display_name":"Matthias Minderer","orcid":"https://orcid.org/0000-0002-6428-8256","observed_orcids":["https://orcid.org/0000-0002-6428-8256"]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Minderer, Matthias","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kalashnikov, Dmitry","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kalashnikov, Dmitry","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066924496","display_name":"Jonathan Tompson","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tompson, Jonathan","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058073838","display_name":"Vikas Sindhwani","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sindhwani, Vikas","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031842812","display_name":"Krzysztof Choroma\u0144ski","orcid":"https://orcid.org/0000-0003-3626-414X","observed_orcids":["https://orcid.org/0000-0003-3626-414X"]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Choromanski, Krzysztof","raw_affiliation_strings":["University of Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cambridge","institution_ids":["https://openalex.org/I241749"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.8285999894142151,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.8285999894142151,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.07750000059604645,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.027300000190734863,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/vision-transformer","display_name":"vision transformer","score":0.7179999947547913},{"id":"https://openalex.org/keywords/rgb-d","display_name":"RGB-D","score":0.7760000228881836},{"id":"https://openalex.org/keywords/open-vocabulary-object-detection","display_name":"open-vocabulary object detection","score":0.9620000123977661},{"id":"https://openalex.org/keywords/token-representation","display_name":"token representation","score":0.49300000071525574}],"concepts":[{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.6553963422775269},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6467739939689636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4619911015033722},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.33415985107421875},{"id":"https://openalex.org/C33332235","wikidata":"https://www.wikidata.org/wiki/Q18362","display_name":"Theoretical physics","level":1,"score":0.2678581178188324},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.24129295349121094},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2502.02562","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2502.02562","pdf_url":"https://arxiv.org/pdf/2502.02562","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2502.02562","doi":"https://doi.org/10.48550/arxiv.2502.02562","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2502.02562","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2502.02562","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2502.02562","pdf_url":"https://arxiv.org/pdf/2502.02562","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4407186933.pdf","grobid_xml":"https://content.openalex.org/works/W4407186933.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1968917201","https://openalex.org/W2061771449","https://openalex.org/W2108598243","https://openalex.org/W2789541106","https://openalex.org/W3091156754","https://openalex.org/W3099587965","https://openalex.org/W3200520312","https://openalex.org/W3209632425","https://openalex.org/W4385570109","https://openalex.org/W4386185625","https://openalex.org/W4387143689","https://openalex.org/W4390873312","https://openalex.org/W4392822465","https://openalex.org/W4399795630","https://openalex.org/W4400601172","https://openalex.org/W4401042382","https://openalex.org/W4401306886","https://openalex.org/W4402716288","https://openalex.org/W4403344704","https://openalex.org/W4403572216","https://openalex.org/W4403579180","https://openalex.org/W4404782324","https://openalex.org/W4415798746"],"related_works":["https://openalex.org/W7220841439","https://openalex.org/W4399795630","https://openalex.org/W7220924316","https://openalex.org/W7155170011","https://openalex.org/W4416191118","https://openalex.org/W7127597189","https://openalex.org/W4385571459","https://openalex.org/W4413157583","https://openalex.org/W7214518427","https://openalex.org/W7146245104"],"abstract_inverted_index":{"We":[0,62,87],"introduce":[1],"STRING:":[2],"Separable":[3],"Translationally":[4],"Invariant":[5],"Position":[6,11],"Encodings.":[7],"STRING":[8,30,64],"extends":[9],"Rotary":[10],"Encodings,":[12],"a":[13,25,44,92],"recently":[14],"proposed":[15],"and":[16,83],"widely":[17],"used":[18],"algorithm":[19],"in":[20,53,79],"large":[21],"language":[22],"models,":[23],"via":[24],"unifying":[26],"theoretical":[27],"framework.":[28],"Importantly,":[29],"still":[31],"provides":[32],"exact":[33],"translation":[34],"invariance,":[35],"including":[36],"token":[37,58],"coordinates":[38],"of":[39,99],"arbitrary":[40],"dimensionality,":[41],"whilst":[42],"maintaining":[43],"low":[45],"computational":[46],"footprint.":[47],"These":[48],"properties":[49],"are":[50],"especially":[51],"important":[52],"robotics,":[54],"where":[55],"efficient":[56],"3D":[57],"representation":[59],"is":[60],"key.":[61],"integrate":[63],"into":[65],"Vision":[66],"Transformers":[67],"with":[68,91],"RGB(-D)":[69],"inputs":[70],"(color":[71],"plus":[72],"optional":[73],"depth),":[74],"showing":[75],"substantial":[76],"gains,":[77],"e.g.":[78],"open-vocabulary":[80],"object":[81],"detection":[82],"for":[84],"robotics":[85],"controllers.":[86],"complement":[88],"our":[89,100],"experiments":[90],"rigorous":[93],"mathematical":[94],"analysis,":[95],"proving":[96],"the":[97],"universality":[98],"methods.":[101]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2025-02-06T00:00:00"}