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Rohit Garg

Publications and source records attributed to Rohit Garg.

9 recordsLinked to original sources
arXiv2026

Search over the Visual World: Persistent Visual Memory, Layered Indexes, and Source-Grounded Evidence

Most video-retrieval systems assume a bounded corpus and return ranked files or timestamps. Agents operating over cameras, screens, streams, and archives face a different systems problem: observations arrive continuously; models interpret them at different temporal granularities; context must be selected without replaying the complete visual record; and results must stay connected to inspectable source evidence. We argue that search over such a corpus is an infrastructure problem that cannot be reduced to ranking video files. We develop a conceptual and formal model of search over the visual world built on analyzer-defined scenes, persistent understanding artifacts, visual memory as coexisting scene spaces over shared source time, and capability-declared indexes, distinguishing memory (everything retained), context (what is selected for a task), and evidence (the source intervals that ground it). The VideoDB data format (VDB) realizes this model in production, exposed through a typed search surface spanning planned retrieval, stateful investigation, direct access, and grounded synthesis. We contrast this model-agnostic infrastructure, where segmentation, sampling, model choice, embeddings, and ranking are system decisions and live streams are first-class sources, with video-native foundation models offered as fixed APIs. In a semantic-retrieval comparison against a commercial video-native engine spanning 9,800+ queries over four public datasets, a pipeline of general-purpose components achieves higher macro-averaged Recall@1/@3/@10 (73.09/83.39/91.20 versus 65.75/77.13/89.10), while the baseline is higher at Recall@50 (96.42 versus 96.07). Retrieval quality over the visual world is today governed more by system design than by video-specific pretraining, and visual-memory infrastructure can deliver it while keeping playable, source-grounded evidence first-class.

cs.IR↗
arXiv2026

Benchmarking Computational Pathology Foundation Models For Semantic Segmentation

In recent years, foundation models such as CLIP, DINO,and CONCH have demonstrated remarkable domain generalization and unsupervised feature extraction capabilities across diverse imaging tasks. However, systematic and independent evaluations of these models for pixel-level semantic segmentation in histopathology remain scarce. In this study, we propose a robust benchmarking approach to asses 10 foundational models on four histopathological datasets covering both morphological tissue-region and cellular/nuclear segmentation tasks. Our method leverages attention maps of foundation models as pixel-wise features, which are then classified using a machine learning algorithm, XGBoost, enabling fast, interpretable, and model-agnostic evaluation without finetuning. We show that the vision language foundation model, CONCH performed the best across datasets when compared to vision-only foundation models, with PathDino as close second. Further analysis shows that models trained on distinct histopathology cohorts capture complementary morphological representations, and concatenating their features yields superior segmentation performance. Concatenating features from CONCH, PathDino and CellViT outperformed individual models across all the datasets by 7.95% (averaged across the datasets), suggesting that ensembles of foundation models can better generalize to diverse histopathological segmentation tasks.

cs.CV↗
arXiv2024

On Commuting automorphisms of nilpotent Lie algebras

We investigate the commuting automorphisms of nilpotent Lie algebras $L$ with coclass $\leq 3$. Our examination exposes the conditions under which the set of commuting automorphisms of $L$ forms a subgroup within its automorphism group.

math.RA↗
arXiv2021

VDB-EDT: An Efficient Euclidean Distance Transform Algorithm Based on VDB Data Structure

This paper presents a fundamental algorithm, called VDB-EDT, for Euclidean distance transform (EDT) based on the VDB data structure. The algorithm executes on grid maps and generates the corresponding distance field for recording distance information against obstacles, which forms the basis of numerous motion planning algorithms. The contributions of this work mainly lie in three folds. Firstly, we propose a novel algorithm that can facilitate distance transform procedures by optimizing the scheduling priorities of transform functions, which significantly improves the running speed of conventional EDT algorithms. Secondly, we for the first time introduce the memory-efficient VDB data structure, a customed B+ tree, to represent the distance field hierarchically. Benefiting from the special index and caching mechanism, VDB shows a fast (average \textit{O}(1)) random access speed, and thus is very suitable for the frequent neighbor-searching operations in EDT. Moreover, regarding the small scale of existing datasets, we release a large-scale dataset captured from subterranean environments to benchmark EDT algorithms. Extensive experiments on the released dataset and publicly available datasets show that VDB-EDT can reduce memory consumption by about 30%-85%, depending on the sparsity of the environment, while maintaining a competitive running speed with the fastest array-based implementation. The experiments also show that VDB-EDT can significantly outperform the state-of-the-art EDT algorithm in both runtime and memory efficiency, which strongly demonstrates the advantages of our proposed method. The released dataset and source code are available on https://github.com/zhudelong/VDB-EDT.

cs.RO↗
arXiv2021

Visual Servoing Approach for Autonomous UAV Landing on a Moving Vehicle

Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing controller approaches the ground vehicle using velocity commands calculated directly in image space. The control laws generate velocity commands in all three dimensions, eliminating the need for a separate height controller. The method has shown the ability to approach and land on the moving deck in simulation, indoor and outdoor environments, and compared to the other available methods, it has provided the fastest landing approach. Unlike many existing methods for landing on fast-moving platforms, this method does not rely on additional external setups, such as RTK, motion capture system, ground station, offboard processing, or communication with the vehicle, and it requires only the minimal set of hardware and localization sensors. The videos and source codes are also provided.

cs.RO↗
arXiv2018

Monocular and Stereo Cues for Landing Zone Evaluation for Micro UAVs

Autonomous and safe landing is important for unmanned aerial vehicles. We present a monocular and stereo image based method for fast and accurate landing zone evaluation for UAVs in various scenarios. Many existing methods rely on Lidar or depth sensor to provide accurate and dense surface reconstruction. We utilize stereo images to evaluate the slope and monocular images to compute homography error. By combining them together, our approach works for both rigid and non-rigid dynamic surfaces. Experiments on many outdoor scenes such as water, grass and roofs, demonstrate the robustness and effectiveness of our approach.

cs.RO↗
arXiv2009

AB Percolation in Semiconductor Alloys

We show that, at the percolation threshold, two percolating AB clusters form in the diamond structure simultaneously instead of the usual one in the common site percolation problems. The structure of these two clusters and the related physical properties of semiconductor mixed crystals are discussed.

cond-mat.dis-nn↗