Open-vocabulary semantic segmentation presents the challenge of labeling each pixel within an image based on a wide range of text descriptions. In this work we introduce a novel cost-based approach to adapt vision-language foundation models notably CLIP for the intricate task of semantic segmentation. Through aggregating the cosine similarity score i.e. the cost volume between image and text embeddings our method potently adapts CLIP for segmenting seen and unseen classes by fine-tuning its encoders addressing the challenges faced by existing methods in handling unseen classes. Building upon this we explore methods to effectively aggregate the cost volume considering its multi-modal nature of being established between image and text embeddings. Furthermore we examine various methods for efficiently fine-tuning CLIP.
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This paper introduces 3DFIRES a novel system for scene-level 3D reconstruction from posed images. Designed to work with as few as one view 3DFIRES reconstructs the complete geometry of unseen scenes including hidden surfaces. With multiple view inputs our method produces full reconstruction within all camera frustums. A key feature of our approach is the fusion of multi-view information at the feature level enabling the production of coherent and comprehensive 3D reconstruction. We train our system on non-watertight scans from large-scale real scene dataset. We show it matches the efficacy of single-view reconstruction methods with only one input and surpasses existing techniques in both quantitative and qualitative measures for sparse-view 3D reconstruction.
3D facial editing a longstanding task in computer vision with broad applications is expected to fast and intuitively manipulate any face from arbitrary viewpoints following the user's will. Existing works have limitations in terms of intuitiveness generalization and efficiency. To overcome these challenges we propose FaceEdit3D which allows users to directly manipulate 3D points to edit a 3D face achieving natural and rapid face editing. After one or several points are manipulated by users we propose the tri-plane warping to directly manipulate the view-independent 3D representation. To address the problem of distortion caused by tri-plane warping we train a warp-aware encoder to project the warped face onto a standardized latent space. In this space we further propose directional latent editing to mitigate the identity bias caused by the encoder and realize the disentangled editing of various attributes. Extensive experiments show that our method achieves superior results with rich facial details and nice identity preservation. Our approach also supports general applications like multi-attribute continuous editing and cat/car editing. The project website is https://cyh-sj.github.io/FaceEdit3D/.
Implicit neural representations for video (NeRV) have recently become a novel way for high-quality video representation. However existing works employ a single network to represent the entire video which implicitly confuse static and dynamic information. This leads to an inability to effectively compress the redundant static information and lack the explicitly modeling of global temporal-coherent dynamic details. To solve above problems we propose DS-NeRV which decomposes videos into sparse learnable static codes and dynamic codes without the need for explicit optical flow or residual supervision. By setting different sampling rates for two codes and applying weighted sum and interpolation sampling methods DS-NeRV efficiently utilizes redundant static information while maintaining high-frequency details. Additionally we design a cross-channel attention-based (CCA) fusion module to efficiently fuse these two codes for frame decoding. Our approach achieves a high quality reconstruction of 31.2 PSNR with only 0.35M parameters thanks to separate static and dynamic codes representation and outperforms existing NeRV methods in many downstream tasks. Our project website is at https://haoyan14.github.io/DS-NeRV.
An effective pre-training framework with universal 3D representations is extremely desired in perceiving large-scale dynamic scenes. However establishing such an ideal framework that is both task-generic and label-efficient poses a challenge in unifying the representation of the same primitive across diverse scenes. The current contrastive 3D pre-training methods typically follow a frame-level consistency which focuses on the 2D-3D relationships in each detached image. Such inconsiderate consistency greatly hampers the promising path of reaching an universal pre-training framework: (1) The cross-scene semantic self-conflict \textit i.e. the intense collision between primitive segments of the same semantics from different scenes; (2) Lacking a globally unified bond that pushes the cross-scene semantic consistency into 3D representation learning. To address above challenges we propose a CSC framework that puts a scene-level semantic consistency in the heart bridging the connection of the similar semantic segments across various scenes. To achieve this goal we combine the coherent semantic cues provided by the vision foundation model and the knowledge-rich cross-scene prototypes derived from the complementary multi-modality information. These allow us to train a universal 3D pre-training model that facilitates various downstream tasks with less fine-tuning efforts. Empirically we achieve consistent improvements over SOTA pre-training approaches in semantic segmentation (+1.4% mIoU) object detection (+1.0% mAP) and panoptic segmentation (+3.0% PQ) using their task-specific 3D network on nuScenes. Code is released at \href https://github.com/chenhaomingbob/CSC https://github.com/chenhaomingbob/CSC hoping to inspire future research.
Gradient-based saliency maps have been widely used to explain the decisions of deep neural network classifiers. However standard gradient-based interpretation maps including the simple gradient and integrated gradient algorithms often lack desired structures such as sparsity and connectedness in their application to real-world computer vision models. A common approach to induce sparsity-based structures into gradient-based saliency maps is to modify the simple gradient scheme using sparsification or norm-based regularization. However one drawback with such post-processing approaches is the potentially significant loss in fidelity to the original simple gradient map. In this work we propose to apply adversarial training as an in-processing scheme to train neural networks with structured simple gradient maps. We demonstrate an existing duality between the regularized norms of the adversarial perturbations and gradient-based maps whereby we design adversarial training schemes promoting sparsity and group-sparsity properties in simple gradient maps. We present comprehensive numerical results to show the influence of our proposed norm-based adversarial training methods on the standard gradient-based maps of standard neural network architectures on benchmark image datasets.
HINTED: Hard Instance Enhanced Detector with Mixed-Density Feature Fusion for Sparsely-Supervised 3D Object Detection
PDF ↗Current sparsely-supervised object detection methods largely depend on high threshold settings to derive high-quality pseudo labels from detector predictions. However hard instances within point clouds frequently display incomplete structures causing decreased confidence scores in their assigned pseudo-labels. Previous methods inevitably result in inadequate positive supervision for these instances. To address this problem we propose a novel Hard INsTance Enhanced Detector HINTED for sparsely-supervised 3D object detection. Firstly we design a self-boosting teacher SBT model to generate more potential pseudo-labels enhancing the effectiveness of information transfer. Then we introduce a mixed-density student MDS model to concentrate on hard instances during the training phase thereby improving detection accuracy. Our extensive experiments on the KITTI dataset validate our method's superior performance. Compared with leading sparsely-supervised methods HINTED significantly improves the detection performance on hard instances notably outperforming fully-supervised methods in detecting challenging categories like cyclists. HINTED also significantly outperforms the state-of-the-art semi-supervised method on challenging categories. The code is available at https://github.com/xmuqimingxia/HINTED.
Most models of visual attention aim at predicting either top-down or bottom-up control as studied using different visual search and free-viewing tasks. In this paper we propose the Human Attention Transformer (HAT) a single model that predicts both forms of attention control. HAT uses a novel transformer-based architecture and a simplified foveated retina that collectively create a spatio-temporal awareness akin to the dynamic visual working memory of humans. HAT not only establishes a new state-of-the-art in predicting the scanpath of fixations made during target-present and target-absent visual search and "taskless" free viewing but also makes human gaze behavior interpretable. Unlike previous methods that rely on a coarse grid of fixation cells and experience information loss due to fixation discretization HAT features a sequential dense prediction architecture and outputs a dense heatmap for each fixation thus avoiding discretizing fixations. HAT sets a new standard in computational attention which emphasizes effectiveness generality and interpretability. HAT's demonstrated scope and applicability will likely inspire the development of new attention models that can better predict human behavior in various attention-demanding scenarios. Code is available at https://github.com/cvlab-stonybrook/HAT.
Text-to-image diffusion models produce high quality images but do not offer control over individual instances in the image. We introduce InstanceDiffusion that adds precise instance-level control to text-to-image diffusion models. InstanceDiffusion supports free-form language conditions per instance and allows flexible ways to specify instance locations such as simple single points scribbles bounding boxes or intricate instance segmentation masks and combinations thereof. We propose three major changes to text-to-image models that enable precise instance-level control. Our UniFusion block enables instance-level conditions for text-to-image models the ScaleU block improves image fidelity and our Multi-instance Sampler improves generations for multiple instances. InstanceDiffusion significantly surpasses specialized state-of-the-art models for each location condition. Notably on the COCO dataset we outperform previous state-of-the-art by 20.4% AP50box for box inputs and 25.4% IoU for mask inputs.
We propose SNI-SLAM a semantic SLAM system utilizing neural implicit representation that simultaneously performs accurate semantic mapping high-quality surface reconstruction and robust camera tracking. In this system we introduce hierarchical semantic representation to allow multi-level semantic comprehension for top-down structured semantic mapping of the scene. In addition to fully utilize the correlation between multiple attributes of the environment we integrate appearance geometry and semantic features through cross-attention for feature collaboration. This strategy enables a more multifaceted understanding of the environment thereby allowing SNI-SLAM to remain robust even when single attribute is defective. Then we design an internal fusion-based decoder to obtain semantic RGB Truncated Signed Distance Field (TSDF) values from multi-level features for accurate decoding. Furthermore we propose a feature loss to update the scene representation at the feature level. Compared with low-level losses such as RGB loss and depth loss our feature loss is capable of guiding the network optimization on a higher-level. Our SNI-SLAM method demonstrates superior performance over all recent NeRF-based SLAM methods in terms of mapping and tracking accuracy on Replica and ScanNet datasets while also showing excellent capabilities in accurate semantic segmentation and real-time semantic mapping. Codes will be available at https://github.com/IRMVLab/SNI-SLAM.
Our paper aims to generate diverse and realistic animal motion sequences from textual descriptions without a large-scale animal text-motion dataset. While the task of text-driven human motion synthesis is already extensively studied and benchmarked it remains challenging to transfer this success to other skeleton structures with limited data. In this work we design a model architecture that imitates Generative Pretraining Transformer (GPT) utilizing prior knowledge learned from human data to the animal domain. We jointly train motion autoencoders for both animal and human motions and at the same time optimize through the similarity scores among human motion encoding animal motion encoding and text CLIP embedding. Presenting the first solution to this problem we are able to generate animal motions with high diversity and fidelity quantitatively and qualitatively outperforming the results of training human motion generation baselines on animal data. Additionally we introduce AnimalML3D the first text-animal motion dataset with 1240 animation sequences spanning 36 different animal identities. We hope this dataset would mediate the data scarcity problem in text-driven animal motion generation providing a new playground for the research community.
We present EgoTAP a heatmap-to-3D pose lifting method for highly accurate stereo egocentric 3D pose estimation. Severe self-occlusion and out-of-view limbs in egocentric camera views make accurate pose estimation a challenging problem. To address the challenge prior methods employ joint heatmaps-probabilistic 2D representations of the body pose but heatmap-to-3D pose conversion still remains an inaccurate process. We propose a novel heatmap-to-3D lifting method composed of the Grid ViT Encoder and the Propagation Network. The Grid ViT Encoder summarizes joint heatmaps into effective feature embedding using self-attention. Then the Propagation Network estimates the 3D pose by utilizing skeletal information to better estimate the position of obscure joints. Our method significantly outperforms the previous state-of-the-art qualitatively and quantitatively demonstrated by a 23.9% reduction of error in an MPJPE metric. Our source code is available on GitHub.
LiDAR-based 3D object detection plays an essential role in autonomous driving. Existing high-performing 3D object detectors usually build dense feature maps in the backbone network and prediction head. However the computational costs introduced by the dense feature maps grow quadratically as the perception range increases making these models hard to scale up to long-range detection. Some recent works have attempted to construct fully sparse detectors to solve this issue; nevertheless the resulting models either rely on a complex multi-stage pipeline or exhibit inferior performance. In this work we propose a fully sparse adaptive feature diffusion network (SAFDNet) for LiDAR-based 3D object detection. In SAFDNet an adaptive feature diffusion strategy is designed to address the center feature missing problem. We conducted extensive experiments on Waymo Open nuScenes and Argoverse2 datasets. SAFDNet performed slightly better than the previous SOTA on the first two datasets but much better on the last dataset which features long-range detection verifying the efficacy of SAFDNet in scenarios where long-range detection is required. Notably on Argoverse2 SAFDNet surpassed the previous best hybrid detector HEDNet by 2.6% mAP while being 2.1x faster and yielded 2.1% mAP gains over the previous best sparse detector FSDv2 while being 1.3x faster. The code will be available at https://github.com/zhanggang001/HEDNet.
Embodied agents operating in complex and uncertain environments face considerable challenges. While some advanced agents handle complex manipulation tasks with proficiency their success often hinges on extensive training data to develop their capabilities. In contrast humans typically rely on recalling past experiences and analogous situations to solve new problems. Aiming to emulate this human approach in robotics we introduce the Retrieval-Augmented Embodied Agent (RAEA). This innovative system equips robots with a form of shared memory significantly enhancing their performance. Our approach integrates a policy retriever allowing robots to access relevant strategies from an external policy memory bank based on multi-modal inputs. Additionally a policy generator is employed to assimilate these strategies into the learning process enabling robots to formulate effective responses to tasks. Extensive testing of RAEA in both simulated and real-world scenarios demonstrates its superior performance over traditional methods representing a major leap forward in robotic technology.
We present NeRSP a Neural 3D reconstruction technique for Reflective surfaces with Sparse Polarized images. Reflective surface reconstruction is extremely challenging as specular reflections are view-dependent and thus violate the multiview consistency for multiview stereo. On the other hand sparse image inputs as a practical capture setting commonly cause incomplete or distorted results due to the lack of correspondence matching. This paper jointly handles the challenges from sparse inputs and reflective surfaces by leveraging polarized images. We derive photometric and geometric cues from the polarimetric image formation model and multiview azimuth consistency which jointly optimize the surface geometry modeled via implicit neural representation. Based on the experiments on our synthetic and real datasets we achieve the state-of-the-art surface reconstruction results with only 6 views as input.
The encoder-decoder network (ED-Net) is a commonly employed choice for existing depth completion methods but its working mechanism is ambiguous. In this paper we visualize the internal feature maps to analyze how the network densifies the input sparse depth. We find that the encoder feature of ED-Net focus on the areas with input depth points around. To obtain a dense feature and thus estimate complete depth the decoder feature tends to complement and enhance the encoder feature by skip-connection to make the fused encoder-decoder feature dense resulting in the decoder feature also exhibits sparse. However ED-Net obtains the sparse decoder feature from the dense fused feature at the previous stage where the "dense to sparse" process destroys the completeness of features and loses information. To address this issue we present a depth feature upsampling network (DFU) that explicitly utilizes these dense features to guide the upsampling of a low-resolution (LR) depth feature to a high-resolution (HR) one. The completeness of features is maintained throughout the upsampling process thus avoiding information loss. Furthermore we propose a confidence-aware guidance module (CGM) which is confidence-aware and performs guidance with adaptive receptive fields (GARF) to fully exploit the potential of these dense features as guidance. Experimental results show that our DFU a plug-and-play module can significantly improve the performance of existing ED-Net based methods with limited computational overheads and new SOTA results are achieved. Besides the generalization capability on sparser depth is also enhanced. Project page: https://npucvr.github.io/DFU.
Recent trends in Large Vision Language Models (LVLMs) research have been increasingly focusing on advancing beyond general image understanding towards more nuanced object-level referential comprehension. In this paper we present and delve into the self-consistency capability of LVLMs a crucial aspect that reflects the models' ability to both generate informative captions for specific objects and subsequently utilize these captions to accurately re-identify the objects in a closed-loop process. This capability significantly mirrors the precision and reliability of fine-grained visual-language understanding. Our findings reveal that the self-consistency level of existing LVLMs falls short of expectations posing limitations on their practical applicability and potential. To address this gap we introduce a novel fine-tuning paradigm named Self-Consistency Tuning (SC-Tune). It features the synergistic learning of a cyclic describer-locator system. This paradigm is not only data-efficient but also exhibits generalizability across multiple LVLMs. Through extensive experiments we demonstrate that SC-Tune significantly elevates performance across a spectrum of object-level vision-language benchmarks and maintains competitive or improved performance on image-level vision-language benchmarks. Both our model and code will be publicly available at https://github.com/ivattyue/SC-Tune.
Visual object tracking aims to localize the target object of each frame based on its initial appearance in the first frame. Depending on the input modility tracking tasks can be divided into RGB tracking and RGB+X (e.g. RGB+N and RGB+D) tracking. Despite the different input modalities the core aspect of tracking is the temporal matching. Based on this common ground we present a general framework to unify various tracking tasks termed as OneTracker. OneTracker first performs a large-scale pre-training on a RGB tracker called Foundation Tracker. This pretraining phase equips the Foundation Tracker with a stable ability to estimate the location of the target object. Then we regard other modality information as prompt and build Prompt Tracker upon Foundation Tracker. Through freezing the Foundation Tracker and only adjusting some additional trainable parameters Prompt Tracker inhibits the strong localization ability from Foundation Tracker and achieves parameter-efficient finetuning on downstream RGB+X tracking tasks. To evaluate the effectiveness of our general framework OneTracker which is consisted of Foundation Tracker and Prompt Tracker we conduct extensive experiments on 6 popular tracking tasks across 11 benchmarks and our OneTracker outperforms other models and achieves state-of-the-art performance.
UltrAvatar: A Realistic Animatable 3D Avatar Diffusion Model with Authenticity Guided Textures
PDF ↗Recent advances in 3D avatar generation have gained significant attention. These breakthroughs aim to produce more realistic animatable avatars narrowing the gap between virtual and real-world experiences. Most of existing works employ Score Distillation Sampling (SDS) loss combined with a differentiable renderer and text condition to guide a diffusion model in generating 3D avatars. However SDS often generates over-smoothed results with few facial details thereby lacking the diversity compared with ancestral sampling. On the other hand other works generate 3D avatar from a single image where the challenges of unwanted lighting effects perspective views and inferior image quality make them difficult to reliably reconstruct the 3D face meshes with the aligned complete textures. In this paper we propose a novel 3D avatar generation approach termed UltrAvatar with enhanced fidelity of geometry and superior quality of physically based rendering (PBR) textures without unwanted lighting. To this end the proposed approach presents a diffuse color extraction model and an authenticity guided texture diffusion model. The former removes the unwanted lighting effects to reveal true diffuse colors so that the generated avatars can be rendered under various lighting conditions. The latter follows two gradient-based guidances for generating PBR textures to render diverse face-identity features and details better aligning with 3D mesh geometry. We demonstrate the effectiveness and robustness of the proposed method outperforming the state-of-the-art methods by a large margin in the experiments.
Contrastive Language-Image Pre-training (CLIP) has become a promising language-supervised visual pre-training framework. This paper aims to distill small CLIP models supervised by a large teacher CLIP model. We propose several distillation strategies including relation feature gradient and contrastive paradigms to examine the effectiveness of CLIP-Knowledge Distillation (KD). We show that a simple feature mimicry with Mean Squared Error loss works surprisingly well. Moreover interactive contrastive learning across teacher and student encoders is also effective in performance improvement. We explain that the success of CLIP-KD can be attributed to maximizing the feature similarity between teacher and student. The unified method is applied to distill several student models trained on CC3M+12M. CLIP-KD improves student CLIP models consistently over zero-shot ImageNet classification and cross-modal retrieval benchmarks. When using ViT-L/14 pretrained on Laion-400M as the teacher CLIP-KD achieves 57.5% and 55.4% zero-shot top-1 ImageNet accuracy over ViT-B/16 and ResNet-50 surpassing the original CLIP without KD by 20.5% and 20.1% margins respectively. Our code is released on https://github.com/winycg/CLIP-KD.