The evolution of 3D object detection hinges not only on advanced models but also on effective and efficient annotation strategies. Despite this progress, the labor-intensive nature of 3D object annotation remains a bottleneck, hindering further development in the field. This paper introduces a novel approach, incorporated with prompt in 2D, detect in 3D'' anddetect in 3D, refine in 3D'' strategies, to 3D object annotation: multi-modal interactive 3D object detection. Firstly, by allowing users to engage with simpler 2D interaction prompts (e.g., clicks or boxes on a camera image or a bird's eye view), we bridge the complexity gap between 2D and 3D spaces, reimagining the annotation workflow. Besides, Our framework also supports flexible iterative refinement to the initial 3D annotations, further assisting annotators in achieving satisfying results. Evaluation on the nuScenes dataset demonstrates the effectiveness of our method. And thanks to the prompt-driven and interactive designs, our approach also exhibits outstanding performance in open-set scenarios. This work not only offers a potential solution to the 3D object annotation problem but also paves the way for further innovations in the 3D object detection community.
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MarvelOVD: Marrying Object Recognition and Vision-Language Models for Robust Open-Vocabulary Object Detection
PDF ↗Learning from pseudo-labels that generated with VLMs (Vision Language Models) has been shown as a promising solution to assist open vocabulary detection (OVD) in recent studies. However, due to the domain gap between VLM and vision-detection tasks, pseudo-labels produced by the VLMs are prone to be noisy, while the training design of the detector further amplifies the bias. In this work, we investigate the root cause of VLMs' biased prediction under the OVD context. Our observations lead to a simple yet effective paradigm, coded MarvelOVD, that generates significantly better training targets and optimizes the learning procedure in an online manner by marrying the capability of the detector with the vision-language model. Our key insight is that the detector itself can act as a strong auxiliary guidance to accommodate VLM's inability of understanding both the `background'' and the context of a proposal within the image. Based on it, we greatly purify the noisy pseudo-labels via Online Mining and propose Adaptive Reweighting to effectively suppress the biased training boxes that are not well aligned with the target object. In addition, we also identify a neglectedbase-novel-conflict' problem and introduce stratified label assignments to prevent it. Extensive experiments on COCO and LVIS datasets demonstrate that our method outperforms the other state-of-the-arts by significant margins. Code will be released.
In this work, we investigate the understudied effect of the training data used for image super-resolution (SR). Most commonly, novel SR methods are developed and benchmarked on common training datasets such as DIV2K and DF2K. However, we investigate and rethink the training data from the perspectives of diversity and quality, thereby addressing the question of "How important is SR training for SR models?". To this end, we propose an automated image evaluation pipeline. With this, we stratify existing high-resolution image datasets and larger-scale image datasets such as ImageNet and PASS to compare their performances. We find that datasets with (i) low compression artifacts, (ii) high within-image diversity as judged by the number of different objects, and (iii) a large number of images from ImageNet or PASS all positively affect SR performance. We hope that the proposed simple-yet-effective dataset curation pipeline will inform the construction of SR datasets in the future and yield overall better models.
Controllable Image Captioning (CIC) aims at generating natural language descriptions for an image, conditioned on information provided by end users, e.g., regions, entities or events of interest. However, available image--language datasets mainly contain captions that describe the entirety of an image, making them ineffective for training CIC models that can potentially attend to any subset of regions or relationships. To tackle this challenge, we propose a novel, fully automatic method to sample additional focused and visually grounded captions using a unified structured semantic representation built on top of the existing set of captions associated with an image. We leverage Abstract Meaning Representation (AMR), a cross-lingual graph-based semantic formalism, to encode all possible spatio-semantic relations between entities, beyond the typical spatial-relations-only focus of current methods. We use this Structured Semantic Augmentation (SSA) framework to augment existing image--caption datasets with the grounded controlled captions, increasing their spatial and semantic diversity and focal coverage. We then develop a new model, CIC-BART-SSA, specifically tailored for the CIC task, that sources its control signals from SSA-diversified datasets. We empirically show that, compared to SOTA CIC models, CIC-BART-SSA generates captions that are superior in diversity and text quality, are competitive in controllability, and, importantly, minimize the gap between broad and highly focused controlled captioning performance by efficiently generalizing to the challenging highly focused scenarios.
Existing human mesh recovery (HMR) methods commonly leverage the global or dense-annotations-based local features to produce a single prediction from input image. However, the compressed global feature and local features disrupt the spatial geometry of human body and make it hard to capture the local dynamics, resulting in visual-mesh misalignment. Moreover, dense annotations are labor-intensive and expensive. Toward above issues, we propose a global-to-pixel wise prediction framework to preserve spatial information and obtain precise visual-mesh alignments for top-down HMR. Specifically, we present an adaptive 2D Keypoint-Guided Local Encoding Module to enable per-pixel features to capture fine-grained body part information with structure and local context maintained. The acquisition of local features rely exclusively on sparse 2D keypoint guidance without any dense annotations or heuristics keypoint-based ROI pooling. The enhanced pixel features are used to predict residuals for rectifying initial estimation produced by global feature. Secondly, we introduce a Dynamic Matching Strategy that determines positive/negative pixels by only calculating the classification and 2D keypoint costs to further improve visual-mesh alignments. The comprehensive experiments demonstrate the effectiveness of network design. Our framework outperforms previous local regression methods by a large margin and achieves state-of-the-art performance on Human3.6m and 3DPW datasets.
In incremental object detection, knowledge distillation has been proven to be an effective way to alleviate catastrophic forgetting. However, previous works focused on preserving the knowledge of old models, ignoring that images could simultaneously contain categories from past, present, and future stages. The co-occurrence of objects makes the optimization objectives inconsistent across different stages since the definition for foreground objects differs across various stages, greatly limiting the model's performance. To overcome this problem, we propose a method called ``Bridge Past and Future'' (BPF), which aligns models across stages, ensuring consistent optimization directions. In addition, we propose a novel Distillation with Future (DwF) loss, fully leveraging the background probability to mitigate the forgetting of old classes while ensuring a high level of adaptability in learning new classes. Extensive experiments are conducted on both Pascal VOC and MS COCO benchmarks. Without memory, BPF outperforms current state-of-the-art methods under various settings.
SA-DVAE: Improving Zero-Shot Skeleton-Based Action Recognition by Disentangled Variational Autoencoders
PDF ↗Existing zero-shot skeleton-based action recognition methods utilize projection networks to learn a shared latent space of skeleton features and semantic embeddings. The inherent imbalance in action recognition datasets, characterized by variable skeleton sequences yet constant class labels, presents significant challenges for alignment. To address the imbalance, we propose SA-DVAE---Semantic Alignment via Disentangled Variational Autoencoders, a method that first adopts feature disentanglement to separate skeleton features into two independent parts---one is semantic-related and another is irrelevant---to better align skeleton and semantic features. We implement this idea via a pair of modality-specific variational autoencoders coupled with a total correction penalty. We conduct experiments on three benchmark datasets: NTU RGB+D, NTU RGB+D 120 and PKU-MMD, and our experimental results show that SA-DAVE produces improved performance over existing methods.
We introduce a new hair modeling method that uses a dual representation of classical hair strands and 3D Gaussians to produce accurate and realistic strand-based reconstructions from multi-view data. In contrast to recent approaches that leverage unstructured Gaussians to model human avatars, our method enforces a reconstruction of the hair in the form of 3D polylines, or strands. This fundamental difference allows us to use the resulting hairstyles out-of-the-box in modern computer graphics engines for editing, rendering, and simulation. To reconstruct strand-based hair from images, we introduce a new 3D line lifting method that utilizes unstructured Gaussians to represent the hairstyle's 3D surface. We use this intermediate reconstruction to generate multi-view geometric ground truth data to supervise the fitting of the hair strands. The hairstyle itself is represented in the form of the so-called strand-aligned 3D Gaussians. This representation allows us to combine strand-based hair priors, which are essential for realistic modeling of the inner structure of hairstyles, with the differentiable rendering capabilities of 3D Gaussian Splatting. We evaluate our method on synthetic and real hairstyles and demonstrate state-of-the-art performance in the task of strand-based hair reconstruction.
Goal-oriented planning, or anticipating a series of actions that transition an agent from its current state to a predefined objective, is crucial for developing intelligent assistants aiding users in daily procedural tasks. The problem presents significant challenges due to the need for comprehensive knowledge of temporal and hierarchical task structures, as well as strong capabilities in reasoning and planning. To achieve this, prior work typically relies on extensive training on the target dataset, which often results in significant dataset bias and a lack of generalization to unseen tasks. In this work, we introduce VidAssist, an integrated framework designed for zero/few-shot goal-oriented planning in instructional videos. VidAssist leverages large language models (LLMs) as both the knowledge base and the assessment tool for generating and evaluating action plans, thus overcoming the challenges of acquiring procedural knowledge from small-scale, low-diversity datasets. Moreover, VidAssist employs a breadth-first search algorithm for optimal plan generation, in which a composite of value functions designed for goal-oriented planning are utilized to assess the predicted actions at each step. Extensive experiments demonstrate that VidAssist offers a unified framework for different goal-oriented planning setups, e.g., visual planning for assistance (VPA) and procedural planning (PP) and achieves remarkable performance in zero-shot and few-shot setups. Specifically, in the COIN dataset, the few-shot VidAssist outperforms the prior state-of-the-art fully-supervised method by +7.7% success rate in the VPA task and +4.81% success rate in the PP task for planning horizon 4.
CNNs are increasingly deployed across different hardware, dynamic environments, and low power embedded devices. This has led to the design and training of CNN architectures with the goal of maximizing accuracy subject to such variable deployment constraints. As the number of deployment scenarios grows, there is a need to find scalable solutions to design and train specialized CNNs. Once-for-all training has emerged as a scalable approach that jointly co-trains many models (subnets) at once with a constant training cost and finds specialized CNNs later. The scalability is achieved by training the full model and simultaneously reducing it to smaller subnets that share model weights (weight-sharing). However, existing once-for-all training approaches incur huge training costs reaching 1200 GPU hours. We argue this is because they either start the process of shrinking the full model too early or too late. Hence, we propose DES that starts the process of shrinking the full model when it is partially trained (∼50%) which leads to training cost improvement. The proposed approach also consists of novel heuristics that dynamically adjust subnet learning rates incrementally (E), leading to better weight-shared knowledge distillation from larger to smaller subnets. As a result, DES outperforms state-of-the-art once-for-all training techniques across different datasets including CIFAR10/100, ImageNet-100, and ImageNet-1k on accuracy and cost. It achieves 1.83% higher ImageNet-1k top-1 accuracy or the same accuracy with 1.3x reduction in FLOPs and 2.5x drop in training cost (GPU*hrs)
Token compression expedites the training and inference of Vision Transformers (ViTs) by reducing the number of the redundant tokens, e.g., pruning inattentive tokens or merging similar tokens. However, when applied to downstream tasks, these approaches suffer from significant performance drop when the compression degrees are mismatched between training and inference stages, which limits the application of token compression on off-the-shelf trained models. In this paper, we propose a model arithmetic framework to decouple the compression degrees between the two stages. In advance, we additionally perform a fast parameter-efficient self-distillation stage on the pre-trained model to obtain a small plugin, called Token Compensator (ToCom), which describes the gap between models across different compression degrees. During inference, ToCom can be directly inserted into any downstream off-the-shelf models with any mismatched training and inference compression degrees to acquire universal performance improvements without further training. Experiments on over 20 downstream tasks demonstrate the effectiveness of our framework. On CIFAR100, fine-grained visual classification, and VTAB-1k benchmark, ToCom can yield up to a maximum improvement of 2.3%, 1.5%, and 2.0% in the average performance of DeiT-B, respectively.
Collecting accurate camera poses of training images has been shown to well serve the learning of 3D-aware generative adversarial networks (GANs) yet can be quite expensive in practice. This work targets learning 3D-aware GANs from unposed images, for which we propose to perform on-the-fly pose estimation of training images with a learned template feature field (TEFF). Concretely, in addition to a generative radiance field as in previous approaches, we ask the generator to also learn a field from 2D semantic features while sharing the density from the radiance field. Such a framework allows us to acquire a canonical 3D feature template leveraging the dataset mean discovered by the generative model, and further efficiently estimate the pose parameters on real data. Experimental results on various challenging datasets demonstrate the superiority of our approach over state-of-the-art alternatives from both the qualitative and the quantitative perspectives. Code and models will be made public.
Conventional imaging requires a line of sight to create accurate visual representations of a scene. In certain circumstances, however, obtaining a suitable line of sight may be impractical, dangerous, or even impossible. Non-line-of-sight (NLOS) imaging addresses this challenge by reconstructing the scene from indirect measurements. Recently, passive NLOS methods that use an ordinary photograph of the subtle shadow cast onto a visible wall by the hidden scene have gained interest. These methods are currently limited to 1D or low-resolution 2D color imaging, or localization of a hidden object whose shape is approximately known. Here, we generalize this class of methods and demonstrate a 3D reconstruction of a hidden scene from an ordinary NLOS photograph. To achieve this, we propose a novel reformulation of the light transport model that conveniently decomposes the hidden scene into light-occluding and non-light-occluding components to yield a separable non-linear least squares (SNLLS) inverse problem for reconstructing the hidden scene. We develop two solutions: A gradient-based optimization method and a physics-inspired neural network approach, which we call Soft Shadow diffusion (SSD). Despite the challenging ill-conditioned inverse problem encountered here, our approaches are effective on numerous 3D scenes in real experimental scenarios. Although SSD is trained in simulation only, it generalizes well to both unseen classes and real-world NLOS scenes.
We introduce AutoVER, an Autoregressive model for Visual Entity Recognition. Our model extends an autoregressive Multi-modal Large Language Model by employing retrieval augmented constrained generation. It mitigates low performance on out-of-domain entities while excelling in queries that require visual reasoning. Our method learns to distinguish similar entities within a vast label space by contrastively training on hard negative pairs in parallel with a sequence-to-sequence objective without an external retriever. During inference, a list of retrieved candidate answers explicitly guides language generation by removing invalid decoding paths. The proposed method achieves significant improvements across different dataset splits in the recently proposed Oven-Wiki benchmark with accuracy on the Entity seen split rising from 32.7% to 61.5%. It demonstrates superior performance on the unseen and query splits by a substantial double-digit margin, while also preserving the ability to effectively transfer to other generic visual question answering benchmarks without further training.
We introduce UPose3D, a novel approach for multi-view 3D human pose estimation, addressing challenges in accuracy and scalability. Our method advances existing pose estimation frameworks by improving robustness and flexibility without requiring direct 3D annotations. At the core of our method, a pose compiler module refines predictions from a 2D keypoints estimator that operates on a single image by leveraging temporal and cross-view information. Our novel cross-view fusion strategy is scalable to any number of cameras, while our synthetic data generation strategy ensures generalization across diverse actors, scenes, and viewpoints. Finally, UPose3D leverages the prediction uncertainty of both the 2D keypoint estimator and the pose compiler module. This provides robustness to outliers and noisy data, resulting in state-of-the-art performance in out-of-distribution settings. In addition, for in-distribution settings, UPose3D yields a performance rivaling methods that rely on 3D annotated data, while being the state-of-the-art among methods relying only on 2D supervision.
Human pose estimation (HPE) from Radio Frequency vision (RF-vision) performs human sensing using RF signals that penetrate obstacles without revealing privacy (e.g., facial information). Recently, mmWave radar has emerged as a promising RF-vision sensor, providing radar point clouds by processing RF signals. However, the mmWave radar has a limited resolution with severe noise, leading to inaccurate and inconsistent human pose estimation. This work proposes mmDiff, a novel diffusion-based pose estimator tailored for noisy radar data. Our approach aims to provide reliable guidance as conditions to diffusion models for HPE. Two key challenges are addressed by mmDiff: (1) miss-detection of parts of human bodies may happen, which is addressed by a module that isolates feature extraction from different body parts, and (2) signal inconsistency due to environmental interference, which is tackled by incorporating prior knowledge of body structure and motion. Several modules are designed to achieve these goals, whose features work as the conditions for the subsequent diffusion model, eliminating the miss-detection and instability of HPE based on RF-vision. Extensive experiments demonstrate that mmDiff outperforms existing methods significantly, achieving state-of-the-art performances on public datasets.
The Common Objects in Context (COCO) dataset has been instrumental in benchmarking object detectors over the past decade. Like every dataset, COCO contains subtle errors and imperfections stemming from its annotation procedure. With the advent of high-performing models, we ask whether these errors of COCO are hindering its utility in reliably benchmarking further progress. In search for an answer, we inspect thousands of masks from COCO (2017 version) and uncover different types of errors such as imprecise mask boundaries, non-exhaustively annotated instances, and mislabeled masks. Due to the prevalence of COCO, we choose to correct these errors to maintain continuity with prior research. We develop COCO-ReM (Refined Masks), a cleaner set of annotations with visibly better mask quality than COCO-2017. We evaluate fifty object detectors and find that models that predict visually sharper masks score higher on COCO-ReM, affirming that they were being incorrectly penalized due to errors in COCO-2017. Moreover, our models trained using COCO-ReM converge faster and score higher than their larger variants trained using COCO-2017, highlighting the importance of data quality in improving object detectors. With these findings, we advocate using COCO-ReM for future object detection research. Our dataset is available at https://cocorem.xyz
The scarcity of large-scale 3D-text paired data poses a great challenge on open vocabulary 3D scene understanding, and hence it is popular to leverage internet-scale 2D data and transfer their open vocabulary capabilities to 3D models through knowledge distillation. However, the existing distillation-based 3D scene understanding approaches rely on the representation capacity of 2D models, disregarding the exploration of geometric priors and inherent representational advantages offered by 3D data. In this paper, we propose an effective approach, namely Geometry Guided Self-Distillation (GGSD), to learn superior 3D representations from 2D pre-trained models. Specifically, we first design a geometry guided distillation module to distill knowledge from 2D models, where we leverage the 3D geometric priors to alleviate inherent noise in 2D models and enhance the representation learning process. Due to the inherent representation advantages of 3D data, the performance of the distilled 3D student model can significantly surpass that of the 2D teacher model. This motivates us to further leverage the representation advantages of 3D data through self-distillation. As a result, our proposed GGSD approach outperforms the existing open vocabulary 3D scene understanding methods by a large margin, as demonstrated by our experiments on both indoor and outdoor benchmark datasets. The code will be released.
We present GvSeg, a generalist video segmentation framework for addressing four different video segmentation tasks (i.e., instance, semantic, panoptic, and exemplar-guided) while maintaining an identical architectural design. Currently, there is a trend towards developing general video segmentation solutions that can be applied across multiple tasks. This streamlines research endeavors and simplifies deployment. However, such a highly homogenized framework in current design, where each element maintains uniformity, could overlook the inherent diversity among different tasks and lead to suboptimal performance. To tackle this, GvSeg: i) provides a holistic disentanglement and modeling for segment targets, thoroughly examining them from the perspective of appearance, position, and shape, and on this basis, ii) reformulates the query initialization, matching and sampling strategies in alignment with the task-specific requirement. These architecture-agnostic innovations empower GvSeg to effectively address each unique task by accommodating the specific properties that characterize them. Extensive experiments on seven gold-standard benchmark datasets demonstrate that GvSeg surpasses all existing specialized/general solutions by a significant margin on four different video segmentation tasks. Our code shall be released.
This study addresses the challenging problem of active view selection and uncertainty quantification within the domain of Radiance Fields. Neural Radiance Fields (NeRF) have greatly advanced image rendering and reconstruction, but the cost of acquiring images poses the need to select the most informative viewpoints efficiently. Existing approaches depend on modifying the model architecture or hypothetical perturbation field to indirectly approximate the model uncertainty. However, selecting views from indirect approximation does not guarantee optimal information gain for the model. By leveraging Fisher Information, we directly quantify observed information on the parameters of Radiance Fields and select candidate views by maximizing the Expected Information Gain~(EIG). Our method achieves state-of-the-art results on multiple tasks, including view selection, active mapping, and uncertainty quantification, demonstrating its potential to advance the field of Radiance Fields. Our method with the 3D Gaussian Splatting backend could perform view selections at 70~fps.