Spatial axis𝑛𝑑𝒓𝑛𝑑𝒓Semantic axisDense representationFactorized representation(ours)𝑳Localization (β€œwhere”)𝑺Semantics (β€œwhat”)π‘Ÿβ‰ͺ𝑑Sparse image modeling with a few conceptsFeatures on patches