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About this paper
Baiqiao Yin, Zhongang Cai, Ruisi Wang, Qiwei Liang, Lei Yang, Ziwei Liu
The authors evaluate ten frozen visual representations for whether small probes can read visible scene structure, retain objects after they leave view, predict spatial updates under camera motion, and select goal-directed actions. VideoMAE’s out-of-view bearing error is 36.45°, versus DINOv2’s 65.38°, despite DINOv2’s stronger visible-scene readouts. These offline tests do not establish online memory or reliable robot behavior.
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