Ordinal Neural Collapse as a Representation Prior for Visual Navigation

arXiv:2606.26839 · cs.RO, cs.CV · Submitted 2026-06-25 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-06-25

Updated: 2026-08-07

Terminology

• Success Rate — 14× in this paper
• Ordinal Neural Collapse — 12× in this paper
• Clustering — 10× in this paper · explained in 2 episodes
• Transformer — 9× in this paper · explained in 2 episodes
• Linear probe — 7× in this paper · explained in 2 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Action Decoder — 6× in this paper · explained in 1 episode
• Alignment — 6× in this paper · explained in 1 episode
• Fine-Tuning — 5× in this paper · explained in 5 episodes
• Gradient Flow — 4× in this paper · explained in 2 episodes
• Representation Learning — 4× in this paper · explained in 2 episodes
• Steering — 4× in this paper · explained in 2 episodes
• Cosine Similarity — 3× in this paper · explained in 3 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Aggregation — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Decoupling — 2× in this paper · explained in 2 episodes
• Latent Representation — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Two-stage training — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Agency for Defense Development — 1× in this paper
• Benchmarking — 1× in this paper · explained in 3 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Linear Probing — 1× in this paper · explained in 2 episodes
• PID Controller — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Simplex Equiangular Tight Frame — 1× in this paper
• Temporal consistency — 1× in this paper · explained in 2 episodes
• Transfer Learning — 1× in this paper · explained in 10 episodes

Sources

• Joint 2D-3D-Semantic Data for Indoor Scene Understanding

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