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| license: apache-2.0 |
| pipeline_tag: image-to-image |
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| |
| # Model Card for Model ID |
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| <!-- Provide a quick summary of what the model is/does. --> |
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| Joint RGB and Depth Representation Autoencoder (RAE-d) and Conditional Flow Matching (CFM) model for underwater benthic environment generation. |
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| ## Model Details |
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| ### Model Description |
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| <!-- Provide a longer summary of what this model is. --> |
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| BenthicFlow is a unified generative pipeline for benthic (seafloor) environments. |
| A **single conditional flow matching model** jointly synthesizes aligned RGB and |
| depth, and a MultiDiffusion-inspired windowed sampler extends generation to |
| scenes of unbounded spatial extent — no separate inpainting or stitching network. |
| Generated RGB-D mosaics are lifted into continuous 3D scenes with |
| **surface-aligned Gaussian surfels**. |
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| - **Developed by:** Joaquín Figueira Chacon, Camile C. Lendering, Giacomo D'Amicantontion, Erkut Akdag and Egor Bondarev |
| - **Funded by:** ITEA Advisor and Xecs Marisens projects winthin the Eindhoven University of Technology. |
| - **Model type:** Generative model |
| - **License:** Apache 2.0 |
| - **Adapted from model:** facebook/dinov2-base |
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| ### Model Sources [optional] |
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| <!-- Provide the basic links for the model. --> |
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| - **Repository:** https://github.com/jacomof/BenthicFlow |
| - **Paper:** [BenthicFlow: Generating Extensible Underwater Environments via Flow Matching](https://huggingface.co/papers/2608.23173) |
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| ## Uses |
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| Use to create RGBD mosaics of benthic environments. |
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| ## How to Get Started with the Model |
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| Download the Github repository and follow the provided instructions. |
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| ## Training Details |
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| ### Training Data |
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| Data from the Squidle+ benthic survey framework is used for training. Images are downsampled to 518 resolution, and 224 crops of the the downsampled images are used for |
| training. Further details on the precise subset used are present in the Github repository and paper. |
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| ### Training Procedure |
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| - RAE: A representation autoencoder (using a DINOv2-B encoder and a convolutional decoder) is trained to reconstruct images following a 3 stage regime for 16 epochs with a batch size of 16 |
| crops. |
| Following standard RAE practices, phase 1 applies an L1 |
| reconstruction loss on RGB and depth. From epoch 6, phase 2 adds a Learned Perceptual Image Patch Similarity (LPIPS) term on RGB. |
| From epoch 8, phase 3 adds a hinge adversarial term on RGB, with a |
| discriminator formed from a frozen DINO-S/8 backbone and a small trainable |
| convolutional head, and DiffAugment applied identically to real and reconstructed |
| inputs. |
| - CFM: A DIBOv2 average pooled token of produced by encoding a reference image is computed and appended to the timestep encoder of a CFM network. The CFM network is implemente |
| using a UNet architecture. |
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| #### Training Hyperparameters |
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| - **Training regime:** fp16 mixed precision. |
| - **Batch size:** 16 (d-RAE) and 256 (CFM). |
| - **Learning rate:** 2e-4 (d-RAE) and 1e-4 (CFM). |
| - **Exponential Moving Average:** 0.9999 decay. |
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| ## Evaluation |
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| Please refer to the paper when published. |
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| ## Environmental Impact |
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| <!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly --> |
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| Estimated as 34560.0 g eq. CO2 using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute). |
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| - **Hardware Type:** H100 GPUs |
| - **Hours used:** Approx. 200 H100 GPU hours. |
| - **Carbon Emitted:** 34560.0 g eq. CO2 |
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| ## Technical Specifications [optional] |
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| ### Model Architecture and Objective |
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| - The RAE-d architecture consists of a frozen DINOv2-B RGB encoder, a depth encoder consisting of 8 attention blocks with embedding dimension 256 and 8 attention heads. |
| The decoder consists of a convolutional network with two pre-norm GroupNorm/SiLU residual up-convolution blocks (inspired by the SD-VAE decoder) with upsampling factors |
| 2 and 7 and hidden dimensions 256 and 128. |
| - The CFM's UNet consists of 2 downsampling residual blocks, 1 middle residual block and 2 up-sampling residual blocks. Adaptive Group Normalization is used in all the |
| blocks. |
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| ### Compute Infrastructure |
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| [Snellius: the National Supercomputer of the Netherlands](https://www.surf.nl/en/services/compute/snellius-the-national-supercomputer). It uses a SLURM management system. |
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| #### Hardware |
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| 4 H100 GPUs, 64 CPU cores, 512 GB of RAM are used for training. |
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| ## Citation |
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| If you use this work or codebase, please cite: |
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| ```bibtex |
| @article{figueira2026benthicflow, |
| title = {BenthicFlow: Generating Extensible Underwater Environments via Flow Matching}, |
| author = {Figueira, Joaqu{\'i}n and Lendering, Camile and Gonzalez-Hernandez, Manfred and D'Amicantonio, Giacomo and Akdag, Erkut and Bondarev, Egor}, |
| journal = {arXiv preprint arXiv:2608.23173}, |
| year = {2026}, |
| url = {https://arxiv.org/abs/2608.23173} |
| } |
| ``` |
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| ## Model Card Contact |
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| - email: j.figueira@tue.nl |
