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One Model, Two Worlds: Bidirectional Sonar-Optical Translation

arXiv · AI, language, vision and robotics · article · Sep 5, 2026 · UTC

Translating between imaging sonar and optical cameras is valuable for underwater perception, but supporting both directions with separate models duplicates storage and computation. A unified bidirectional model is therefore attractive, yet existing approaches largely treat the two directions symmetrically despite their fundamentally different image-formation physics. We argue that sharing a generative model does not require sharing the physics. We introduce the Direction-Asymmetric Realism Bridge (DARB), which retains a shared diffusion-bridge trunk while routing direction-specific physical pr

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