{"id":"https://openalex.org/W7162010800","doi":"https://doi.org/10.48550/arxiv.2605.21131","title":"UniT: Unified Geometry Learning with Group Autoregressive Transformer","display_name":"UniT: Unified Geometry Learning with Group Autoregressive Transformer","publication_year":2026,"publication_date":"2026-05-20","ids":{"openalex":"https://openalex.org/W7162010800","doi":"https://doi.org/10.48550/arxiv.2605.21131"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.21131","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.21131","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.21131","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136635528","display_name":"Haotian Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Haotian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069878565","display_name":"Yusong Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Yusong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009875443","display_name":"Zhaonian Kuang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kuang, Zhaonian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136719065","display_name":"Hongliang Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Hongliang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136685410","display_name":"Xinhu Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Xinhu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136646264","display_name":"Meng Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Meng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136663049","display_name":"Gang Hua","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hua, Gang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.38100001215934753,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.38100001215934753,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.30079999566078186,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.22769999504089355,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/autoregressive-model","display_name":"Autoregressive model","score":0.8284000158309937},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.46380001306533813},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4602000117301941},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.38029998540878296},{"id":"https://openalex.org/keywords/group","display_name":"Group (periodic table)","score":0.37209999561309814},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3684000074863434}],"concepts":[{"id":"https://openalex.org/C159877910","wikidata":"https://www.wikidata.org/wiki/Q2202883","display_name":"Autoregressive model","level":2,"score":0.8284000158309937},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.47130000591278076},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.46380001306533813},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4602000117301941},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4553000032901764},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.38029998540878296},{"id":"https://openalex.org/C2781311116","wikidata":"https://www.wikidata.org/wiki/Q83306","display_name":"Group (periodic table)","level":2,"score":0.37209999561309814},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3684000074863434},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35600000619888306},{"id":"https://openalex.org/C194657046","wikidata":"https://www.wikidata.org/wiki/Q7394685","display_name":"STAR model","level":4,"score":0.3301999866962433},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.32710000872612},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32019999623298645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.319599986076355},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.3028999865055084},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.2879999876022339},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2671999931335449},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2648000121116638}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.21131","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.21131","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.21131","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.21131","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recent":[0],"feed-forward":[1],"models":[2],"have":[3],"significantly":[4],"advanced":[5],"geometry":[6,180,210,231],"perception":[7],"for":[8,221],"inferring":[9],"dense":[10],"3D":[11],"structure":[12],"from":[13,208],"sensor":[14,69],"observations.":[15],"However,":[16],"its":[17],"essential":[18],"capabilities":[19,56],"remain":[20],"fragmented":[21],"across":[22,176],"multiple":[23,117],"incompatible":[24],"paradigms,":[25],"including":[26],"online":[27,95,113],"perception,":[28,232],"offline":[29,97,124],"reconstruction,":[30],"multi-modal":[31],"integration,":[32],"long-horizon":[33],"scalability,":[34],"and":[35,76,85,96,203],"metric-scale":[36,174,212],"estimation.":[37],"We":[38],"present":[39],"UniT,":[40],"a":[41,46,58,103,127,131,136,178,194,205,216],"unified":[42,101,230],"model":[43],"built":[44],"upon":[45],"novel":[47],"Group":[48],"Autoregressive":[49],"Transformer,":[50],"which":[51],"reformulates":[52],"these":[53],"seemingly":[54],"disparate":[55],"within":[57,102,185],"single":[59,104,132],"framework.":[60,187],"The":[61],"key":[62],"idea":[63],"is":[64,149,182],"to":[65,166,211],"treat":[66],"groups":[67],"of":[68],"observations":[70],"as":[71,233],"the":[72,78,110,170],"basic":[73],"autoregressive":[74,118,143],"units":[75],"predict":[77],"corresponding":[79],"point":[80],"maps":[81],"in":[82,93,130,229],"an":[83],"anchor-free":[84,159],"scale-adaptive":[86,179],"manner.":[87],"More":[88],"specifically,":[89],"diverse":[90],"view":[91],"configurations":[92],"both":[94],"settings":[98],"are":[99],"naturally":[100],"group":[105,111,129],"autoregression":[106],"process.":[107],"By":[108],"varying":[109],"size,":[112],"mode":[114,125],"operates":[115],"over":[116,145],"steps":[119],"with":[120,193,215],"single-frame":[121],"groups,":[122],"whereas":[123],"aggregates":[126],"multi-frame":[128],"forward":[133],"pass.":[134],"Meanwhile,":[135],"queue-style":[137],"KV":[138],"caching":[139],"mechanism":[140],"ensures":[141],"bounded":[142],"memory":[144,165],"long":[146],"horizons.":[147],"This":[148],"enabled":[150],"by":[151],"reducing":[152],"long-range":[153],"dependencies":[154],"on":[155,169,235],"early":[156],"frames":[157],"through":[158],"relational":[160],"modeling,":[161],"thereby":[162],"allowing":[163],"outdated":[164],"be":[167],"discarded":[168],"fly.":[171],"To":[172],"improve":[173],"generalization":[175],"scenes,":[177],"loss":[181],"further":[183],"introduced":[184],"this":[186],"It":[188],"couples":[189],"relative":[190],"geometric":[191],"constraints":[192],"partial":[195],"absolute":[196],"scale":[197,202],"term,":[198],"implicitly":[199],"regularizing":[200],"global":[201],"inducing":[204],"progressive":[206],"transition":[207],"scale-invariant":[209],"solutions.":[213],"Together":[214],"dedicated":[217],"modal":[218],"attention":[219],"module":[220],"integrating":[222],"auxiliary":[223],"modalities,":[224],"UniT":[225],"achieves":[226],"state-of-the-art":[227],"performance":[228],"validated":[234],"ten":[236],"benchmarks":[237],"spanning":[238],"seven":[239],"representative":[240],"tasks.":[241]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-22T00:00:00"}