# ReCal3R: Reliability-Calibrated Learning Rates for Streaming 3D Reconstruction

arXiv: https://arxiv.org/abs/2607.05356 · HTML: https://mlsanity.com/paper/2607.05356/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 41 of its 47 references that are in the map.
- First posted on arXiv 6 Jul 2026.

## Builds on (most cited first, 30 of 41)

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## Abstract (arXiv)

Streaming 3D reconstruction relies on a compact recurrent scene state to process long image streams in linear time and bounded memory. However, repeated updates can gradually corrupt this state, causing reliable historical information to be overwritten by noisy or ambiguous observations. We introduce ReCal3R, a reliability-calibrated learning rate method for recurrent 3D reconstruction. Instead of directly applying a candidate learning rate, our method estimates state token reliability from the maintained scene state and uses it to calibrate a candidate learning rate derived from token alignment, state reconstruction residual, and recent update pressure. The resulting token-wise learning rate interpolates between a conservative base rate and the candidate rate, suppressing aggressive updates on unreliable tokens while preserving adaptation to informative frames. Applied to CUT3R as a training-free calibration rule, ReCal3R reaches strong performance on long sequences in pose, depth, and reconstruction quality, including a 3.7× reduction in ATE, with comparable runtime and memory. Code is available at: https://github.com/Powertony102/ReCal3R.