Large-scale scene data is essential for training and testing in robot learning. Neural reconstruction methods have promised the capability of reconstructing large physically-grounded outdoor scenes from captured sensor data. However, these methods have baked-in static environments and only allow for limited scene control -- they are functionally constrained in scene and trajectory diversity by the captures from which they are reconstructed. In contrast, generating driving data with recent image or video diffusion models offers control, however, at the cost of geometry grounding and causality. In this work, we aim to bridge this gap and present a method that directly generates large-scale 3D driving scenes with accurate geometry, allowing for causal novel view synthesis with object permanence and explicit 3D geometry estimation. The proposed method combines the generation of a proxy geometry and environment representation with score distillation from learned 2D image priors. We find that this approach allows for high controllability, enabling the prompt-guided geometry and high-fidelity texture and structure that can be conditioned on map layouts -- producing realistic and geometrically consistent 3D generations of complex driving scenes.

This paper investigates visual media shared by US national politicians on Twitter, how a politician's variety of image types shared reflects their political position, and identifies a hazard in using standard methods for image characterization in this context. While past work has yielded valuable results on politicians' use of imagery in social media, that work has focused primarily on photographic media, which may be insufficient given the variety of visual media shared in such spaces (e.g., infographics, illustrations, or memes). Leveraging multiple popular, pretrained, deep-learning models to characterize politicians' visuals, this work uses clustering to identify eight types of visual media shared on Twitter, several of which are not photographic in nature. Results show individual politicians share a variety of these types, and the distributions of their imagery across these clusters is correlated with their overall ideological position -- e.g., liberal politicians appear to share a larger proportion of infographic-style images, and conservative politicians appear to share more patriotic imagery. Manual assessment, however, reveals that these image-characterization models often group visually similar images with different semantic meaning into the same clusters, which has implications for how researchers interpret clusters in this space and cluster-based correlations with political ideology. In particular, collapsing semantic meaning in these pretrained models may drive null findings on certain clusters of images rather than politicians across the ideological spectrum sharing common types of imagery. We end this paper with a set of researcher recommendations to prevent such issues.

Recent work has documented striking heterogeneity in the performance of state-of-the-art vision language models (VLMs), including both multimodal language models and text-to-image models. These models are able to describe and generate a diverse array of complex, naturalistic images, yet they exhibit surprising failures on basic multi-object reasoning tasks -- such as counting, localization, and simple forms of visual analogy -- that humans perform with near perfect accuracy. To better understand this puzzling pattern of successes and failures, we turn to theoretical accounts of the binding problem in cognitive science and neuroscience, a fundamental problem that arises when a shared set of representational resources must be used to represent distinct entities (e.g., to represent multiple objects in an image), necessitating the use of serial processing to avoid interference. We find that many of the puzzling failures of state-of-the-art VLMs can be explained as arising due to the binding problem, and that these failure modes are strikingly similar to the limitations exhibited by rapid, feedforward processing in the human brain.

Challenging to capture, and challenging to display on a cellphone screen, the panorama paradoxically remains both a staple and underused feature of modern mobile camera applications. In this work we address both of these challenges with a spherical neural light field model for implicit panoramic image stitching and re-rendering; able to accommodate for depth parallax, view-dependent lighting, and local scene motion and color changes during capture. Fit during test-time to an arbitrary path panoramic video capture -- vertical, horizontal, random-walk -- these neural light spheres jointly estimate the camera path and a high-resolution scene reconstruction to produce novel wide field-of-view projections of the environment. Our single-layer model avoids expensive volumetric sampling, and decomposes the scene into compact view-dependent ray offset and color components, with a total model size of 80 MB per scene, and real-time (50 FPS) rendering at 1080p resolution. We demonstrate improved reconstruction quality over traditional image stitching and radiance field methods, with significantly higher tolerance to scene motion and non-ideal capture settings.