论文检索

Wanying Zhang, Shen Zhao, Fanyang Meng, Songtao Wu, Mengyuan Liu 0001

With potential applications in fields including intelligent surveillance and human-robot interaction, the human motion prediction task has become a hot research topic and also has achieved high success, especially using the recent Graph Convolutional Network (GCN). Current human motion prediction task usually focuses on predicting human motions for atomic actions. Observing that atomic actions can happen at the same time and thus formulating the composite actions, we propose the composite human motion prediction task. To handle this task, we first present a Composite Action Generation (CAG) module to generate synthetic composite actions for training, thus avoiding the laborious work of collecting composite action samples. Moreover, we alleviate the effect of composite actions on demand for a more complicated model by presenting a Dynamic Compositional Graph Convolutional Network (DC-GCN). Extensive experiments on the Human3.6M dataset and our newly collected CHAMP dataset consistently verify the efficiency of our DC-GCN method, which achieves state-of-the-art motion prediction accuracies and meanwhile needs few extra computational costs than traditional GCN-based human motion methods.

Jieteng Yao, Junjie Chen 0008, Li Niu 0002, Bin Sheng 0001

Affordance learning considers the interaction opportunities for an actor in the scene and thus has wide application in scene understanding and intelligent robotics. In this paper, we focus on contextual affordance learning, i.e., using affordance as context to generate a reasonable human pose in a scene. Existing scene-aware human pose generation methods could be divided into two categories depending on whether using pose templates. Our proposed method belongs to the template-based category, which benefits from the representative pose templates. Moreover, inspired by recent transformer-based methods, we associate each query embedding with a pose template, and use the interaction between query embeddings and scene feature map to effectively predict the scale and offsets for each pose template. In addition, we employ knowledge distillation to facilitate the offset learning given the predicted scale. Comprehensive experiments on Sitcom dataset demonstrate the effectiveness of our method.

Xiaohan Wang, Yuehu Liu, Xinhang Song, Beibei Wang, Shuqiang Jiang

Getting trust is crucial for embodied agents (such as robots and autonomous vehicles) to collaborate with human beings, especially non-experts. The most direct way for mutual understanding is through natural language explanation. Existing researches consider generating visual explanations for object recognition, while the exploration of explaining embodied decisions remains vacant. In this paper, we study generating action decisions and explanations based on visual observation. Distinct to explanations for recognition, justifying an action needs to show why it's better than other actions. Besides, the understanding of scene structure is required since the agent needs to interact with the environment (e.g. navigation, moving objects). We introduce a new dataset THOR-EAE (Embodied Action Explanation) collected based on AI2-THOR simulator. The dataset consists of over 840,000 egocentric images of indoor embodied observation which are annotated with the optimal action labels and explanation sentences. An explainable decision-making criterion is developed considering scene layout and action attributes for efficient annotation. We propose a graph action justification model, exploiting graph neural networks for obstacle-surroundings relations representation and justifying the actions under the guidance of decision results. Experimental results on THOR-EAE dataset showcase its challenge and the effectiveness of the proposed method.

Jianbiao Mei, Yu Yang 0001, Mengmeng Wang 0005, Zizhang Li, Xiaojun Hou, Jongwon Ra, Laijian Li, Yong Liu 0007

This paper focuses on LiDAR Panoptic Segmentation (LPS), which has attracted more attention recently due to its broad application prospect for autonomous driving and robotics. The mainstream LPS approaches either adopt a top-down strategy relying on 3D object detectors to discover instances or utilize time-consuming heuristic clustering algorithms to group instances in a bottom-up manner. Inspired by the center representation and kernel-based segmentation, we propose a new detection-free and clustering-free framework called CenterLPS, with the center-based instance encoding and decoding paradigm. Specifically, we propose a sparse center proposal network to generate the sparse 3D instance centers, as well as center feature embedding, which can well encode characteristics of instances. Then a center-aware transformer is applied to collect the context between different center feature embedding and around centers. Moreover, we generate the kernel weights based on the enhanced center feature embedding and initialize dynamic convolutions to decode the final instance masks. Finally, a mask fusion module is devised to unify the semantic and instance predictions and improve the panoptic quality. Extensive experiments on SemanticKITTI and nuScenes demonstrate the effectiveness of our proposed center-based framework CenterLPS.

Liu Liu 0012, Jianming Du, Hao Wu 0040, Xun Yang 0001, Zhenguang Liu, Richang Hong, Meng Wang 0001

Human life is populated with articulated objects. Current category-level articulated object 9D pose estimation (Articulated Object 9D Pose Estimation, ArtOPE) methods usually meet the challenges of shared object representation requirement, kinematics-agnostic pose modeling and self-occlusions. In this paper, we propose a novel framework called Articulated object 9D Pose Estimation via Reinforcement Learning (ArtPERL), which formulates the category-level ArtOPE as a reinforcement learning problem. Given a point cloud or RGB-D image input, ArtPERL firstly retrieves the part-sensitive articulated object as reference point cloud, and then introduces a joint-centric pose modeling strategy that estimates 9D pose by fitting joint states via reinforced agent training. Finally, we further propose a pose optimization that refine the predicted 9D pose considering kinematic constraints. We evaluate our ArtPERL on various datasets ranging from synthetic point cloud to real-world multi-hinged object. Experiments demonstrate the superior performance and robustness of our ArtPERL. Our work provides a new perspective on category-level articulated object 9D pose estimation and has the potential to be applied in many fields, including robotics, augmented reality, and autonomous driving.

Peng Wu 0014, Xiankai Lu, Jianbing Shen, Yilong Yin

Human mesh reconstruction (HMR) from monocular video is the key step to many mixed reality and robotic applications. Although existing methods show promising results by capturing frames' temporal information, these methods predict human mesh with the design of implicit temporal learning modules in a sequence to frame manner. To mine more temporal information from the video, we present a bi-level clip inference network for HMR, which leverages both local motion and global context explicitly for dense 3D reconstruction. Specifically, we propose a novel bi-level temporal fusion strategy that takes both neighboring and long-range relations into consideration. In addition, different from traditional frame-wise operation, we investigate an alternative perspective by treating video-based HMR as clip-wise inference. We evaluate the proposed method on multiple datasets (3DPW, Human3.6M, and MPI-INF-3DHP) quantitatively and qualitatively, demonstrating a significant improvement over existing methods (in terms of PA-MPJPE, ACC-Error etc). Furthermore, we extend the proposed method on more challenging Multiple Shots HMR task to demonstrate its generalizability. Some visual demos can be seen https://github.com/bicf0/bicf_demo.

Deepanway Ghosal, Navonil Majumder, Roy Lee, Rada Mihalcea, Soujanya Poria

Visual question answering (VQA) is the task of answering questions about an image. The task assumes an understanding of both the image and the question to provide a natural language answer. VQA has gained popularity in recent years due to its potential applications in a wide range of fields, including robotics, education, and healthcare. In this paper, we focus on knowledge-augmented VQA, where answering the question requires commonsense knowledge, world knowledge, and reasoning about ideas and concepts not present in the image. We propose a multimodal framework that uses language guidance (LG) in the form of rationales, image captions, scene graphs, etc to answer questions more accurately. We benchmark our method on the multi-choice question-answering task of the A-OKVQA, Science-QA, VSR, and IconQA datasets using CLIP and BLIP models. We show that the use of language guidance is a simple but powerful and effective strategy for visual question answering. Our language guidance improves the performance of CLIP by 7.6% and BLIP-2 by 4.8% in the challenging A-OKVQA dataset. We also observe consistent improvement in performance on the Science-QA, VSR, and IconQA datasets when using the proposed language guidances. The implementation of LG-VQA is publicly available at https://github.com/declare-lab/LG-VQA.

Yi Wang, Jiafei Duan, Dieter Fox, Siddhartha Srinivasa

Large Language Models (LLMs), through their contextualized representations, have been empirically proven to encapsulate syntactic, semantic, word sense, and common-sense knowledge. However, there has been limited exploration of their physical reasoning abilities, specifically concerning the crucial attributes for comprehending everyday objects. To address this gap, we introduce NEWTON, a repository and benchmark for evaluating the physics reasoning skills of LLMs. Further, to enable domain-specific adaptation of this benchmark, we present a pipeline to enable researchers to generate a variant of this benchmark that has been customized to the objects and attributes relevant for their application. The NEWTON repository comprises a collection of 2800 object-attribute pairs, providing the foundation for generating infinite-scale assessment templates. The NEWTON benchmark consists of 160K QA questions, curated using the NEWTON repository to investigate the physical reasoning capabilities of several mainstream language models across foundational, explicit, and implicit reasoning tasks. Through extensive empirical analysis, our results highlight the capabilities of LLMs for physical reasoning. We find that LLMs like GPT-4 demonstrate strong reasoning capabilities in scenario-based tasks but exhibit less consistency in object-attribute reasoning compared to humans (50% vs. 84%). Furthermore, the NEWTON platform demonstrates its potential for evaluating and enhancing language models, paving the way for their integration into physically grounded settings, such as robotic manipulation. Project site: https://newtonreasoning.github.io

Chayan Sarkar, Avik Mitra, Pradip Pramanick, Tapas Nayak

Natural language serves as the primary mode of communication when an intelligent agent with a physical presence engages with human beings. While a plethora of research focuses on natural language understanding (NLU), encompassing endeavors such as sentiment analysis, intent prediction, question answering, and summarization, the scope of NLU directed at situations necessitating tangible actions by an embodied agent remains limited. The inherent ambiguity and incompleteness inherent in natural language present challenges for intelligent agents striving to decipher human intention. To tackle this predicament head-on, we introduce a novel system known as task and argument grounding for Embodied agents (tagE). At its core, our system employs an inventive neural network model designed to extract a series of tasks from complex task instructions expressed in natural language. Our proposed model adopts an encoder-decoder framework enriched with nested decoding to effectively extract tasks and their corresponding arguments from these intricate instructions. These extracted tasks are then mapped (or grounded) to the robot’s established collection of skills, while the arguments find grounding in objects present within the environment. To facilitate the training and evaluation of our system, we have curated a dataset featuring complex instructions. The results of our experiments underscore the prowess of our approach, as it outperforms robust baseline models.

Gabriel Sarch, Yue Wu, Michael Tarr, Katerina Fragkiadaki

Pre-trained and frozen LLMs can effectively map simple scene re-arrangement instructions to programs over a robot’s visuomotor functions through appropriate few-shot example prompting. To parse open-domain natural language and adapt to a user’s idiosyncratic procedures, not known during prompt engineering time, fixed prompts fall short. In this paper, we introduce HELPER, an embodied agent equipped with an external memory of language-program pairs that parses free-form human-robot dialogue into action programs through retrieval-augmented LLM prompting: relevant memories are retrieved based on the current dialogue, instruction, correction or VLM description, and used as in-context prompt examples for LLM querying. The memory is expanded during deployment to include pairs of user’s language and action plans, to assist future inferences and personalize them to the user’s language and routines. HELPER sets a new state-of-the-art in the TEACh benchmark in both Execution from Dialog History (EDH) and Trajectory from Dialogue (TfD), with 1.7x improvement over the previous SOTA for TfD. Our models, code and video results can be found in our project’s website: https://helper-agent-llm.github.io.

Manuel R. Ciosici, Alex Hedges, Yash Kankanampati, Justin Martin, Marjorie Freedman, Ralph Weischedel

We explore using a moderately sized large language model (GPT-J 6B parameters) to create a plan for a simulated robot to achieve 30 classes of goals in ScienceWorld, a text game simulator for elementary science experiments. Previously published empirical work claimed that large language models (LLMs) are a poor fit (Wang et al., 2022) compared to reinforcement learning. Using the Markov assumption (a single previous step), the LLM outperforms the reinforcement learning-based approach by a factor of 1.4. When we fill the LLM's input buffer with as many prior steps as possible, improvement rises to 3.5x. Even when training on only 6.5% of the training data, we observe a 2.2x improvement over the reinforcement-learning-based approach. Our experiments show that performance varies widely across the 30 classes of actions, indicating that averaging over tasks can hide significant performance issues. In work contemporaneous with ours, Lin et al. (2023) demonstrated a two-part approach (SwiftSage) that uses a small LLM (T5-large) complemented by OpenAI's massive LLMs to achieve outstanding results in ScienceWorld. Our 6-B parameter, single-stage GPT-J matches the performance of SwiftSage's two-stage architecture when it incorporates GPT-3.5 turbo which has 29-times more parameters than GPT-J.

Shunya Kato, Shuhei Kurita, Chenhui Chu, Sadao Kurohashi

3D referring expression comprehension is a task to ground text representations onto objects in 3D scenes. It is a crucial task for indoor household robots or augmented reality devices to localize objects referred to in user instructions. However, existing indoor 3D referring expression comprehension datasets typically cover larger object classes that are easy to localize, such as chairs, tables, or doors, and often overlook small objects, such as cooking tools or office supplies. Based on the recently proposed diverse and high-resolution 3D scene dataset of ARKitScenes, we construct the ARKitSceneRefer dataset focusing on small daily-use objects that frequently appear in real-world indoor scenes. ARKitSceneRefer contains 15k objects of 1,605 indoor scenes, which are significantly larger than those of the existing 3D referring datasets, and covers diverse object classes of 583 from the LVIS dataset. In empirical experiments with both 2D and 3D state-of-the-art referring expression comprehension models, we observed the task difficulty of the localization in the diverse small object classes.

Renjie Pi, Jiahui Gao, Shizhe Diao, Rui Pan, Hanze Dong, Jipeng Zhang, Lewei Yao, Jianhua Han, Hang Xu, Lingpeng Kong 等

In recent years, the field of computer vision has seen significant advancements thanks to the development of large language models (LLMs). These models have enabled more effective and sophisticated interactions between humans and machines, paving the way for novel techniques that blur the lines between human and machine intelligence. In this paper, we introduce a new paradigm for object detection that we call reasoning-based object detection. Unlike conventional object detection methods that rely on specific object names, our approach enables users to interact with the system using natural language instructions, allowing for a higher level of interactivity. Our proposed method, called DetGPT, leverages state-of-the-art multi-modal models and open-vocabulary object detectors to perform reasoning within the context of the user’s instructions and the visual scene. This enables DetGPT to automatically locate the object of interest based on the user’s expressed desires, even if the object is not explicitly mentioned. For instance, if a user expresses a desire for a cold beverage, DetGPT can analyze the image, identify a fridge, and use its knowledge of typical fridge contents to locate the beverage. This flexibility makes our system applicable across a wide range of fields, from robotics and automation to autonomous driving. Overall, our proposed paradigm and DetGPT demonstrate the potential for more sophisticated and intuitive interactions between humans and machines. We hope that our proposed paradigm and approach will provide inspiration to the community and open the door to more interactive and versatile object detection systems.

Muhammet Ilaslan, Chenan Song, Joya Chen, Difei Gao, Weixian Lei, Qianli Xu, Joo Lim, Mike Shou

The usage of exocentric and egocentric videos in Video Question Answering (VQA) is a new endeavor in human-robot interaction and collaboration studies. Particularly for egocentric videos, one may leverage eye-gaze information to understand human intentions during the task. In this paper, we build a novel task-oriented VQA dataset, called GazeVQA, for collaborative tasks where gaze information is captured during the task process. GazeVQA is designed with a novel QA format that covers thirteen different reasoning types to capture multiple aspects of task information and user intent. For each participant, GazeVQA consists of more than 1,100 textual questions and more than 500 labeled images that were annotated with the assistance of the Segment Anything Model. In total, 2,967 video clips, 12,491 labeled images, and 25,040 questions from 22 participants were included in the dataset. Additionally, inspired by the assisting models and common ground theory for industrial task collaboration, we propose a new AI model called AssistGaze that is designed to answer the questions with three different answer types, namely textual, image, and video. AssistGaze can effectively ground the perceptual input into semantic information while reducing ambiguities. We conduct comprehensive experiments to demonstrate the challenges of GazeVQA and the effectiveness of AssistGaze.

Applications/Computer Vision

Youngjoong Kwon, Lingjie Liu, Henry Fuchs, Marc Habermann, Christian Theobalt

Generating controllable and photorealistic digital human avatars is a long-standing and important problem in Vision and Graphics. Recent methods have shown great progress in terms of either photorealism or inference speed while the combination of the two desired properties still remains unsolved. To this end, we propose a novel method, called DELIFFAS, which parameterizes the appearance of the human as a surface light field that is attached to a controllable and deforming human mesh model. At the core, we represent the light field around the human with a deformable two-surface parameterization, which enables fast and accurate inference of the human appearance. This allows perceptual supervision on the full image compared to previous approaches that could only supervise individual pixels or small patches due to their slow runtime. Our carefully designed human representation and supervision strategy leads to state-of-the-art synthesis results and inference time. The video results and code are available at https://vcai.mpi-inf.mpg.de/projects/DELIFFAS.

Applications/Robotics

Haotian Xue, Antonio Torralba, Josh Tenenbaum, Dan Yamins, Yunzhu Li, Hsiao-Yu Tung

Given a visual scene, humans have strong intuitions about how a scene can evolve over time under given actions. The intuition, often termed visual intuitive physics, is a critical ability that allows us to make effective plans to manipulate the scene to achieve desired outcomes without relying on extensive trial and error. In this paper, we present a framework capable of learning 3D-grounded visual intuitive physics models from videos of complex scenes with fluids. Our method is composed of a conditional Neural Radiance Field (NeRF)-style visual frontend and a 3D point-based dynamics prediction backend, using which we can impose strong relational and structural inductive bias to capture the structure of the underlying environment. Unlike existing intuitive point-based dynamics works that rely on the supervision of dense point trajectory from simulators, we relax the requirements and only assume access to multi-view RGB images and (imperfect) instance masks acquired using color prior. This enables the proposed model to handle scenarios where accurate point estimation and tracking are hard or impossible. We generate datasets including three challenging scenarios involving fluid, granular materials, and rigid objects in the simulation. The datasets do not include any dense particle information so most previous 3D-based intuitive physics pipelines can barely deal with that. We show our model can make long-horizon future predictions by learning from raw images and significantly outperforms models that do not employ an explicit 3D representation space. We also show that once trained, our model can achieve strong generalization in complex scenarios under extrapolate settings.

Applications/Robotics

Quanyi Li, Zhenghao (Mark) Peng, Lan Feng, Zhizheng Liu, Chenda Duan, Wenjie Mo, Bolei Zhou

Large-scale driving datasets such as Waymo Open Dataset and nuScenes substantially accelerate autonomous driving research, especially for perception tasks such as 3D detection and trajectory forecasting. Since the driving logs in these datasets contain HD maps and detailed object annotations which accurately reflect the real-world complexity of traffic behaviors, we can harvest a massive number of complex traffic scenarios and recreate their digital twins in simulation. Compared to the hand-crafted scenarios often used in existing simulators, data-driven scenarios collected from the real world can facilitate many research opportunities in machine learning and autonomous driving. In this work, we present ScenarioNet, an open-source platform for large-scale traffic scenario modeling and simulation. ScenarioNet defines a unified scenario description format and collects a large-scale repository of real-world traffic scenarios from the heterogeneous data in various driving datasets including Waymo, nuScenes, Lyft L5, and nuPlan datasets. These scenarios can be further replayed and interacted with in multiple views from Bird-Eye-View layout to realistic 3D rendering in MetaDrive simulator. This provides a benchmark for evaluating the safety of autonomous driving stacks in simulation before their real-world deployment. We further demonstrate the strengths of ScenarioNet on large-scale scenario generation, imitation learning, and reinforcement learning in both single-agent and multi-agent settings. Code, demo videos, and website are available at https://github.com/metadriverse/scenarionet

Deep Learning/Other Representation Learning

Po-han Li, Sravan Kumar Ankireddy, Ruihan (Philip) Zhao, Hossein Nourkhiz Mahjoub, Ehsan Moradi Pari, Ufuk Topcu, Sandeep Chinchali, Hyeji Kim

Efficient compression of correlated data is essential to minimize communication overload in multi-sensor networks. In such networks, each sensor independently compresses the data and transmits them to a central node. A decoder at the central node decompresses and passes the data to a pre-trained machine learning-based task model to generate the final output. Due to limited communication bandwidth, it is important for the compressor to learn only the features that are relevant to the task. Additionally, the final performance depends heavily on the total available bandwidth. In practice, it is common to encounter varying availability in bandwidth. Since higher bandwidth results in better performance, it is essential for the compressor to dynamically take advantage of the maximum available bandwidth at any instant. In this work, we propose a novel distributed compression framework composed of independent encoders and a joint decoder, which we call neural distributed principal component analysis (NDPCA). NDPCA flexibly compresses data from multiple sources to any available bandwidth with a single model, reducing compute and storage overhead. NDPCA achieves this by learning low-rank task representations and efficiently distributing bandwidth among sensors, thus providing a graceful trade-off between performance and bandwidth. Experiments show that NDPCA improves the success rate of multi-view robotic arm manipulation by 9% and the accuracy of object detection tasks on satellite imagery by 14% compared to an autoencoder with uniform bandwidth allocation.

Applications/Robotics

Suneel Belkhale, Yuchen Cui, Dorsa Sadigh

In supervised learning, the question of data quality and curation has been sidelined in recent years in favor of increasingly more powerful and expressive models that can ingest internet-scale data. However, in offline learning for robotics, we simply lack internet scale data, and so high quality datasets are a necessity. This is especially true in imitation learning (IL), a sample efficient paradigm for robot learning using expert demonstrations. Policies learned through IL suffer from state distribution shift at test time due to compounding errors in action prediction, which leads to unseen states that the policy cannot recover from.Instead of designing new algorithms to address distribution shift, an alternative perspective is to develop new ways of assessing and curating datasets. There is growing evidence that the same IL algorithms can have substantially different performance across different datasets. This calls for a formalism for defining metrics of "data quality" that can further be leveraged for data curation.In this work, we take the first step toward formalizing data quality for imitation learning through the lens of distribution shift: a high quality dataset encourages the policy to stay in distribution at test time. We propose two fundamental properties that are necessary for a high quality datasets: i) action divergence: the mismatch between the expert and learned policy at certain states; and ii) transition diversity: the noise present in the system for a given state and action. We investigate the combined effect of these two key properties in imitation learning theoretically, and we empirically analyze models trained on a variety of different data sources. We show that state diversity is not always beneficial, and we demonstrate how action divergence and transition diversity interact in practice.

Applications/Robotics

Rongqing Li, Changsheng Li, Dongchun Ren, Guangyi Chen, Ye Yuan, Guoren Wang

The objective of pedestrian trajectory prediction is to estimate the future paths of pedestrians by leveraging historical observations, which plays a vital role in ensuring the safety of self-driving vehicles and navigation robots. Previous works usually rely on a sufficient amount of observation time to accurately predict future trajectories. However, there are many real-world situations where the model lacks sufficient time to observe, such as when pedestrians abruptly emerge from blind spots, resulting in inaccurate predictions and even safety risks. Therefore, it is necessary to perform trajectory prediction based on instantaneous observations, which has rarely been studied before. In this paper, we propose a Bi-directional Consistent Diffusion framework tailored for instantaneous trajectory prediction, named BCDiff. At its heart, we develop two coupled diffusion models by designing a mutual guidance mechanism which can bidirectionally and consistently generate unobserved historical trajectories and future trajectories step-by-step, to utilize the complementary information between them. Specifically, at each step, the predicted unobserved historical trajectories and limited observed trajectories guide one diffusion model to generate future trajectories, while the predicted future trajectories and observed trajectories guide the other diffusion model to predict unobserved historical trajectories. Given the presence of relatively high noise in the generated trajectories during the initial steps, we introduce a gating mechanism to learn the weights between the predicted trajectories and the limited observed trajectories for automatically balancing their contributions. By means of this iterative and mutually guided generation process, both the future and unobserved historical trajectories undergo continuous refinement, ultimately leading to accurate predictions. Essentially, BCDiff is an encoder-free framework that can be compatible with existing trajectory prediction models in principle. Experiments show that our proposed BCDiff significantly improves the accuracy of instantaneous trajectory prediction on the ETH/UCY and Stanford Drone datasets, compared to related approaches.