Contrastive pre-training of image-text foundation models such as CLIP demonstrated excellent zero-shot performance and improved robustness on a wide range of downstream tasks. However these models utilize large transformer-based encoders with significant memory and latency overhead which pose challenges for deployment on mobile devices. In this work we introduce MobileCLIP - a new family of efficient image-text models optimized for runtime performance along with a novel and efficient training approach namely multi-modal reinforced training. The proposed training approach leverages knowledge transfer from an image captioning model and an ensemble of strong CLIP encoders to improve the accuracy of efficient models. Our approach avoids train-time compute overhead by storing the additional knowledge in a reinforced dataset. MobileCLIP sets a new state-of-the-art latency-accuracy tradeoff for zero-shot classification and retrieval tasks on several datasets. Our MobileCLIP-S2 variant is 2.3x faster while more accurate compared to previous best CLIP model based on ViT-B/16. We further demonstrate the effectiveness of our multi-modal reinforced training by training a CLIP model based on ViT-B/16 image backbone and achieving +2.9% average performance improvement on 38 evaluation benchmarks compared to the previous best. Moreover we show that the proposed approach achieves 10x-1000x improved learning efficiency when compared with non- reinforced CLIP training. Code and models are available at https://github.com/apple/ml-mobileclip
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Collecting well-matched multimedia datasets is crucial for training cross-modal retrieval models. However in real-world scenarios massive multimodal data are harvested from the Internet which inevitably contains Partially Mismatched Pairs (PMPs). Undoubtedly such semantical irrelevant data will remarkably harm the cross-modal retrieval performance. Previous efforts tend to mitigate this problem by estimating a soft correspondence to down-weight the contribution of PMPs. In this paper we aim to address this challenge from a new perspective: the potential semantic similarity among unpaired samples makes it possible to excavate useful knowledge from mismatched pairs. To achieve this we propose L2RM a general framework based on Optimal Transport (OT) that learns to rematch mismatched pairs. In detail L2RM aims to generate refined alignments by seeking a minimal-cost transport plan across different modalities. To formalize the rematching idea in OT first we propose a self-supervised cost function that automatically learns from explicit similarity-cost mapping relation. Second we present to model a partial OT problem while restricting the transport among false positives to further boost refined alignments. Extensive experiments on three benchmarks demonstrate our L2RM significantly improves the robustness against PMPs for existing models. The code is available at https://github.com/hhc1997/L2RM.
CAD programs are a popular way to compactly encode shapes as a sequence of operations that are easy to parametrically modify. However without sufficient semantic comments and structure such programs can be challenging to understand let alone modify. We introduce the problem of semantic commenting CAD programs wherein the goal is to segment the input program into code blocks corresponding to semantically meaningful shape parts and assign a semantic label to each block. We solve the problem by combining program parsing with visual-semantic analysis afforded by recent advances in foundational language and vision models. Specifically by executing the input programs we create shapes which we use to generate conditional photorealistic images to make use of semantic annotators for such images. We then distill the information across the images and link back to the original programs to semantically comment on them. Additionally we collected and annotated a benchmark dataset CADTalk consisting of 5288 machine-made programs and 45 human-made programs with ground truth semantic comments. We extensively evaluated our approach compared it to a GPT-based baseline and an open-set shape segmentation baseline and reported an 83.24% accuracy on the new CADTalk dataset. Code and data: https://enigma-li.github.io/CADTalk/.
Towards General Robustness Verification of MaxPool-based Convolutional Neural Networks via Tightening Linear Approximation
PDF ↗The robustness of convolutional neural networks (CNNs) is vital to modern AI-driven systems. It can be quantified by formal verification by providing a certified lower bound within which any perturbation does not alter the original input's classification result. It is challenging due to nonlinear components such as MaxPool. At present many verification methods are sound but risk losing some precision to enhance efficiency and scalability and thus a certified lower bound is a crucial criterion for evaluating the performance of verification tools. In this paper we present MaxLin a robustness verifier for MaxPool-based CNNs with tight Linear approximation. By tightening the linear approximation of the MaxPool function we can certify larger certified lower bounds of CNNs. We evaluate MaxLin with open-sourced benchmarks including LeNet and networks trained on the MNIST CIFAR-10 and Tiny ImageNet datasets. The results show that MaxLin outperforms state-of-the-art tools with up to 110.60% improvement regarding the certified lower bound and 5.13 X speedup for the same neural networks. Our code is available at https://github.com/xiaoyuanpigo/maxlin.
Humans commonly work with multiple objects in daily life and can intuitively transfer manipulation skills to novel objects by understanding object functional regularities. However existing technical approaches for analyzing and synthesizing hand-object manipulation are mostly limited to handling a single hand and object due to the lack of data support. To address this we construct TACO an extensive bimanual hand-object-interaction dataset spanning a large variety of tool-action-object compositions for daily human activities. TACO contains 2.5K motion sequences paired with third-person and egocentric views precise hand-object 3D meshes and action labels. To rapidly expand the data scale we present a fully automatic data acquisition pipeline combining multi-view sensing with an optical motion capture system. With the vast research fields provided by TACO we benchmark three generalizable hand-object-interaction tasks: compositional action recognition generalizable hand-object motion forecasting and cooperative grasp synthesis. Extensive experiments reveal new insights challenges and opportunities for advancing the studies of generalizable hand-object motion analysis and synthesis. Our data and code are available at https://taco2024.github.io.
We present Egocentric Action Scene Graphs (EASGs) a new representation for long-form understanding of egocentric videos. EASGs extend standard manually-annotated representations of egocentric videos such as verb-noun action labels by providing a temporally evolving graph-based description of the actions performed by the camera wearer including interacted objects their relationships and how actions unfold in time. Through a novel annotation procedure we extend the Ego4D dataset adding manually labeled Egocentric Action Scene Graphs which offer a rich set of annotations for long-from egocentric video understanding. We hence define the EASG generation task and provide a baseline approach establishing preliminary benchmarks. Experiments on two downstream tasks action anticipation and activity summarization highlight the effectiveness of EASGs for long-form egocentric video understanding. We will release the dataset and code to replicate experiments and annotations.
Large Vision-Language Models (LVLMs) have demonstrated remarkable capabilities in various multimodal tasks. However their potential in the medical domain remains largely unexplored. A significant challenge arises from the scarcity of diverse medical images spanning various modalities and anatomical regions which is essential in real-world medical applications. To solve this problem in this paper we introduce OmniMedVQA a novel comprehensive medical Visual Question Answering (VQA) benchmark. This benchmark is collected from 73 different medical datasets including 12 different modalities and covering more than 20 distinct anatomical regions. Importantly all images in this benchmark are sourced from authentic medical scenarios ensuring alignment with the requirements of the medical field and suitability for evaluating LVLMs. Through our extensive experiments we have found that existing LVLMs struggle to address these medical VQA problems effectively. Moreover what surprises us is that medical-specialized LVLMs even exhibit inferior performance to those general-domain models calling for a more versatile and robust LVLM in the biomedical field. The evaluation results not only reveal the current limitations of LVLM in understanding real medical images but also highlight our dataset's significance. Our code with dataset are available at https://github.com/OpenGVLab/Multi-Modality-Arena.
Human intelligence can retrieve any person according to both visual and language descriptions. However the current computer vision community studies specific person re-identification (ReID) tasks in different scenarios separately which limits the applications in the real world. This paper strives to resolve this problem by proposing a new instruct-ReID task that requires the model to retrieve images according to the given image or language instructions. Our instruct-ReID is a more general ReID setting where existing 6 ReID tasks can be viewed as special cases by designing different instructions. We propose a large-scale OmniReID benchmark and an adaptive triplet loss as a baseline method to facilitate research in this new setting. Experimental results show that the proposed multi-purpose ReID model trained on our OmniReID benchmark without finetuning can improve +0.5% +0.6% +7.7% mAP on Market1501 MSMT17 CUHK03 for traditional ReID +6.4% +7.1% +11.2% mAP on PRCC VC-Clothes LTCC for clothes-changing ReID +11.7% mAP on COCAS+ real2 for clothes template based clothes-changing ReID when using only RGB images +24.9% mAP on COCAS+ real2 for our newly defined language-instructed ReID +4.3% on LLCM for visible-infrared ReID +2.6% on CUHK-PEDES for text-to-image ReID. The datasets the model and code are available at https://github.com/hwz-zju/Instruct-ReID.
Neural 3D reconstruction from multi-view images has recently attracted increasing attention from the community. Existing methods normally learn a neural field for the whole scene while it is still under-explored how to reconstruct a target object indicated by users. Considering the Segment Anything Model (SAM) has shown effectiveness in segmenting any 2D images in this paper we propose NTO3D a novel high-quality Neural Target Object 3D (NTO3D) reconstruction method which leverages the benefits of both neural field and SAM. We first propose a novel strategy to lift the multi-view 2D segmentation masks of SAM into a unified 3D occupancy field. The 3D occupancy field is then projected into 2D space and generates the new prompts for SAM. This process is iterative until convergence to separate the target object from the scene. After this we then lift the 2D features of the SAM encoder into a 3D feature field in order to improve the reconstruction quality of the target object. NTO3D lifts the 2D masks and features of SAM into the 3D neural field for high-quality neural target object 3D reconstruction. We conduct detailed experiments on several benchmark datasets to demonstrate the advantages of our method. The code will be available at: https://github.com/ucwxb/NTO3D.
JRDB-Social: A Multifaceted Robotic Dataset for Understanding of Context and Dynamics of Human Interactions Within Social Groups
PDF ↗Understanding human social behaviour is crucial in computer vision and robotics. Micro-level observations like individual actions fall short necessitating a comprehensive approach that considers individual behaviour intra-group dynamics and social group levels for a thorough understanding. To address dataset limitations this paper introduces JRDB-Social an extension of JRDB. Designed to fill gaps in human understanding across diverse indoor and outdoor social contexts JRDB-Social provides annotations at three levels: individual attributes intra-group interactions and social group context. This dataset aims to enhance our grasp of human social dynamics for robotic applications. Utilizing the recent cutting-edge multi-modal large language models we evaluated our benchmark to explore their capacity to decipher social human behaviour.
Vision-Language Models (VLMs) are pretrained on large diverse and noisy web-crawled datasets. This underscores the critical need for dataset pruning as the quality of these datasets is strongly correlated with the performance of VLMs on downstream tasks. Using CLIPScore from a pretrained model to only train models using highly-aligned samples is one of the most successful methods for pruning. We argue that this approach suffers from multiple limitations including: false positives and negatives due to CLIP's pretraining on noisy labels. We propose a pruning signal Sieve that employs synthetic captions generated by image-captioning models pretrained on small diverse and well-aligned image-text pairs to evaluate the alignment of noisy image-text pairs. To bridge the gap between the limited diversity of generated captions and the high diversity of alternative text (alt-text) we estimate the semantic textual similarity in the embedding space of a language model pretrained on unlabeled text corpus. Using DataComp a multimodal dataset filtering benchmark when evaluating on 38 downstream tasks our pruning approach surpasses CLIPScore by 2.6% and 1.7% on medium and large scale respectively. In addition on retrieval tasks Sieve leads to a significant improvement of 2.7% and 4.5% on medium and large scale respectively.
A Versatile Framework for Continual Test-Time Domain Adaptation: Balancing Discriminability and Generalizability
PDF ↗Continual test-time domain adaptation (CTTA) aims to adapt the source pre-trained model to a continually changing target domain without additional data acquisition or labeling costs. This issue necessitates an initial performance enhancement within the present domain without labels while concurrently averting an excessive bias toward the current domain. Such bias exacerbates catastrophic forgetting and diminishes the generalization ability to future domains. To tackle the problem this paper designs a versatile framework to capture high-quality supervision signals from three aspects: 1) The adaptive thresholds are employed to determine the reliability of pseudo-labels; 2) The knowledge from the source pre-trained model is utilized to adjust the unreliable one and 3) By evaluating past supervision signals we calculate a diversity score to ensure subsequent generalization. In this way we form a complete supervisory signal generation framework which can capture the current domain discriminative and reserve generalization in future domains. Finally to avoid catastrophic forgetting we design a weighted soft parameter alignment method to explore the knowledge from the source model. Extensive experimental results demonstrate that our method performs well on several benchmark datasets.
Extracting keypoint locations from input hand frames known as 3D hand pose estimation is a critical task in various human-computer interaction applications. Essentially the 3D hand pose estimation can be regarded as a 3D point subset generative problem conditioned on input frames. Thanks to the recent significant progress on diffusion-based generative models hand pose estimation can also benefit from the diffusion model to estimate keypoint locations with high quality. However directly deploying the existing diffusion models to solve hand pose estimation is non-trivial since they cannot achieve the complex permutation mapping and precise localization. Based on this motivation this paper proposes HandDiff a diffusion-based hand pose estimation model that iteratively denoises accurate hand pose conditioned on hand-shaped image-point clouds. In order to recover keypoint permutation and accurate location we further introduce joint-wise condition and local detail condition. Experimental results demonstrate that the proposed HandDiff significantly outperforms the existing approaches on four challenging hand pose benchmark datasets. Codes and pre-trained models are publicly available at https://github.com/cwc1260/HandDiff.
The existing facial datasets while having plentiful images at near frontal views lack images with extreme head poses leading to the downgraded performance of deep learning models when dealing with profile or pitched faces. This work aims to address this gap by introducing a novel dataset named Extreme Pose Face High-Quality Dataset (EFHQ) which includes a maximum of 450k high-quality images of faces at extreme poses. To produce such a massive dataset we utilize a novel and meticulous dataset processing pipeline to curate two publicly available datasets VFHQ and CelebV-HQ which contain many high-resolution face videos captured in various settings. Our dataset can complement existing datasets on various facial-related tasks such as facial synthesis with 2D/3D-aware GAN diffusion-based text-to-image face generation and face reenactment. Specifically training with EFHQ helps models generalize well across diverse poses significantly improving performance in scenarios involving extreme views confirmed by extensive experiments. Additionally we utilize EFHQ to define a challenging cross-view face verification benchmark in which the performance of SOTA face recognition models drops 5-37% compared to frontal-to-frontal scenarios aiming to stimulate studies on face recognition under severe pose conditions in the wild.
Composed image retrieval (CIR) task takes a composed query of image and text aiming to search relative images for both conditions. Conventional CIR approaches need a training dataset composed of triplets of query image query text and target image which is very expensive to collect. Several recent works have worked on the zero-shot (ZS) CIR paradigm to tackle the issue without using pre-collected triplets. However the existing ZS-CIR methods show limited backbone scalability and generalizability due to the lack of diversity of the input texts during training. We propose a novel CIR framework only using language for its training. Our LinCIR (Language-only training for CIR) can be trained only with text datasets by a novel self-supervision named self-masking projection (SMP). We project the text latent embedding to the token embedding space and construct a new text by replacing the keyword tokens of the original text. Then we let the new and original texts have the same latent embedding vector. With this simple strategy LinCIR is surprisingly efficient and highly effective; LinCIR with CLIP ViT-G backbone is trained in 48 minutes and shows the best ZS-CIR performances on four different CIR benchmarks CIRCO GeneCIS FashionIQ and CIRR even outperforming supervised method on FashionIQ. Code is available at https://github.com/navervision/lincir
Backdoor attacks have been well-studied in visible light object detection (VLOD) in recent years. However VLOD can not effectively work in dark and temperature-sensitive scenarios. Instead thermal infrared object detection (TIOD) is the most accessible and practical in such environments. In this paper our team is the first to investigate the security vulnerabilities associated with TIOD in the context of backdoor attacks spanning both the digital and physical realms. We introduce two novel types of backdoor attacks on TIOD each offering unique capabilities: Object-affecting Attack and Range-affecting Attack. We conduct a comprehensive analysis of key factors influencing trigger design which include temperature size material and concealment. These factors especially temperature significantly impact the efficacy of backdoor attacks on TIOD. A thorough understanding of these factors will serve as a foundation for designing physical triggers and temperature controlling experiments. Our study includes extensive experiments conducted in both digital and physical environments. In the digital realm we evaluate our approach using benchmark datasets for TIOD achieving an Attack Success Rate (ASR) of up to 98.21%. In the physical realm we test our approach in two real-world settings: a traffic intersection and a parking lot using a thermal infrared camera. Here we attain an ASR of up to 98.38%.
As a fundamental problem in multimodal learning multimodal fusion aims to compensate for the inherent limitations of a single modality. One challenge of multimodal fusion is that the unimodal data in their unique embedding space mostly contains potential noise which leads to corrupted cross-modal interactions. However in this paper we show that the potential noise in unimodal data could be well quantified and further employed to enhance more stable unimodal embeddings via contrastive learning. Specifically we propose a novel generic and robust multimodal fusion strategy termed Embracing Aleatoric Uncertainty (EAU) which is simple and can be applied to kinds of modalities. It consists of two key steps: (1) the Stable Unimodal Feature Augmentation (SUFA) that learns a stable unimodal representation by incorporating the aleatoric uncertainty into self-supervised contrastive learning. (2) Robust Multimodal Feature Integration (RMFI) leveraging an information-theoretic strategy to learn a robust compact joint representation. We evaluate our proposed EAU method on five multimodal datasets where the video RGB image text audio and depth image are involved. Extensive experiments demonstrate the EAU method is more noise-resistant than existing multimodal fusion strategies and establishes new state-of-the-art on several benchmarks.
JRDB-PanoTrack: An Open-world Panoptic Segmentation and Tracking Robotic Dataset in Crowded Human Environments
PDF ↗Autonomous robot systems have attracted increasing research attention in recent years where environment understanding is a crucial step for robot navigation human-robot interaction and decision. Real-world robot systems usually collect visual data from multiple sensors and are required to recognize numerous objects and their movements in complex human-crowded settings. Traditional benchmarks with their reliance on single sensors and limited object classes and scenarios fail to provide the comprehensive environmental understanding robots need for accurate navigation interaction and decision-making. As an extension of JRDB dataset we unveil JRDB-PanoTrack a novel open-world panoptic segmentation and tracking benchmark towards more comprehensive environmental perception. JRDB-PanoTrack includes (1) various data involving indoor and outdoor crowded scenes as well as comprehensive 2D and 3D synchronized data modalities; (2) high-quality 2D spatial panoptic segmentation and temporal tracking annotations with additional 3D label projections for further spatial understanding; (3) diverse object classes for closed- and open-world recognition benchmarks with OSPA-based metrics for evaluation. Extensive evaluation of leading methods shows significant challenges posed by our dataset.
Dynamic Graph Representation with Knowledge-aware Attention for Histopathology Whole Slide Image Analysis
PDF ↗Histopathological whole slide images (WSIs) classification has become a foundation task in medical microscopic imaging processing. Prevailing approaches involve learning WSIs as instance-bag representations emphasizing significant instances but struggling to capture the interactions between instances. Additionally conventional graph representation methods utilize explicit spatial positions to construct topological structures but restrict the flexible interaction capabilities between instances at arbitrary locations particularly when spatially distant. In response we propose a novel dynamic graph representation algorithm that conceptualizes WSIs as a form of the knowledge graph structure. Specifically we dynamically construct neighbors and directed edge embeddings based on the head and tail relationships between instances. Then we devise a knowledge-aware attention mechanism that can update the head node features by learning the joint attention score of each neighbor and edge. Finally we obtain a graph-level embedding through the global pooling process of the updated head serving as an implicit representation for the WSI classification. Our end-to-end graph representation learning approach has outperformed the state-of-the-art WSI analysis methods on three TCGA benchmark datasets and in-house test sets. Our code is available at https://github.com/WonderLandxD/WiKG.
We introduce a new RGB-D object dataset captured in the wild called WildRGB-D. Unlike most existing real-world object-centric datasets which only come with RGB capturing the direct capture of the depth channel allows better 3D annotations and broader downstream applications. WildRGB-D comprises large-scale category-level RGB-D object videos which are taken using an iPhone to go around the objects in 360 degrees. It contains around 8500 recorded objects and nearly 20000 RGB-D videos across 46 common object categories. These videos are taken with diverse cluttered backgrounds with three setups to cover as many real-world scenarios as possible: (i) a single object in one video; (ii) multiple objects in one video; and (iii) an object with a static hand in one video. The dataset is annotated with object masks real-world scale camera poses and reconstructed aggregated point clouds from RGBD videos. We benchmark four tasks with WildRGB-D including novel view synthesis camera pose estimation object 6d pose estimation and object surface reconstruction. Our experiments show that the large-scale capture of RGB-D objects provides a large potential to advance 3D object learning. Our project page is https://wildrgbd.github.io/.