2026
Y-MAP-Net: Learning from Foundation Models for Real-Time, Multi-Task Scene Perception
ICRA 2026poster
We present Y-MAP-Net, a Y-shaped neural network architecture designed for real-time multi-task learning on RGB images. Y-MAP-Net simultaneously predicts depth, surface normals, human pose, semantic segmentation, and generates multi-label captions in a single forward pass. To achieve this, we adopt a…