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Haicheng Liao, Zhenning Li, Huanming Shen, Wenxuan Zeng, Dongping Liao, Guofa Li, Chengzhong Xu

The ability to accurately predict the trajectory of surrounding vehicles is a critical hurdle to overcome on the journey to fully autonomous vehicles. To address this challenge, we pioneer a novel behavior-aware trajectory prediction model (BAT) that incorporates insights and findings from traffic psychology, human behavior, and decision-making. Our model consists of behavior-aware, interaction-aware, priority-aware, and position-aware modules that perceive and understand the underlying interactions and account for uncertainty and variability in prediction, enabling higher-level learning and flexibility without rigid categorization of driving behavior. Importantly, this approach eliminates the need for manual labeling in the training process and addresses the challenges of non-continuous behavior labeling and the selection of appropriate time windows. We evaluate BAT's performance across the Next Generation Simulation (NGSIM), Highway Drone (HighD), Roundabout Drone (RounD), and Macao Connected Autonomous Driving (MoCAD) datasets, showcasing its superiority over prevailing state-of-the-art (SOTA) benchmarks in terms of prediction accuracy and efficiency. Remarkably, even when trained on reduced portions of the training data (25%), our model outperforms most of the baselines, demonstrating its robustness and efficiency in predicting vehicle trajectories, and the potential to reduce the amount of data required to train autonomous vehicles, especially in corner cases. In conclusion, the behavior-aware model represents a significant advancement in the development of autonomous vehicles capable of predicting trajectories with the same level of proficiency as human drivers. The project page is available on our GitHub.

Xiaohan Li, Dong Liu, Jun Wu

The demand for 4D ( 3D+time ) SLAM system is increasingly urgent, especially for decision-making and scene understanding. However, most of the existing simultaneous localization and mapping ( SLAM ) systems primarily assume static environments. They fail to represent dynamic scenarios due to the challenge of establishing robust long-term spatiotemporal associations in dynamic object tracking. We address this limitation and propose CTO-SLAM, a monocular and RGB-D object-level 4D SLAM system to track moving objects and estimate their motion simultaneously. In this paper, we propose contour tracking, which introduces contour features to enhance the keypoint representation of dynamic objects and coupled with pixel tracking to achieve long-term robust object tracking. Based on contour tracking, we propose a novel sampling-based object pose initialization algorithm and the following adapted bundle adjustment ( BA ) optimization algorithm to estimate dynamic object poses with high accuracy. The CTO-SLAM system is verified on both KITTI and VKITTI datasets. The experimental results demonstrate that our system effectively addresses cumulative errors in long-term spatiotemporal association and hence obtains substantial improvements over the state-of-the-art systems. The source code is available at https://github.com/realXiaohan/CTO-SLAM.

Dohyun Kim, Nayoung Oh, Deokmin Hwang, Daehyung Park

We aim to solve the problem of spatially localizing composite instructions referring to space: space grounding. Compared to current instance grounding, space grounding is challenging due to the ill-posedness of identifying locations referred to by discrete expressions and the compositional ambiguity of referring expressions. Therefore, we propose a novel probabilistic space-grounding methodology (LINGO-Space) that accurately identifies a probabilistic distribution of space being referred to and incrementally updates it, given subsequent referring expressions leveraging configurable polar distributions. Our evaluations show that the estimation using polar distributions enables a robot to ground locations successfully through 20 table-top manipulation benchmark tests. We also show that updating the distribution helps the grounding method accurately narrow the referring space. We finally demonstrate the robustness of the space grounding with simulated manipulation and real quadruped robot navigation tasks. Code and videos are available at https://lingo-space.github.io.

Jinglue Hang, Xiangbo Lin, Tianqiang Zhu, Xuanheng Li, Rina Wu, Xiaohong Ma, Yi Sun

Robot grasp dataset is the basis of designing the robot's grasp generation model. Compared with the building grasp dataset for Low-DOF grippers, it is harder for High-DOF dexterous robot hand. Most current datasets meet the needs of generating stable grasps, but they are not suitable for dexterous hands to complete human-like functional grasp, such as grasp the handle of a cup or pressing the button of a flashlight, so as to enable robots to complete subsequent functional manipulation action autonomously, and there is no dataset with functional grasp pose annotations at present. This paper develops a unique Cost-Effective Real-Simulation Annotation System by leveraging natural hand's actions. The system is able to capture a functional grasp of a dexterous hand in a simulated environment assisted by human demonstration in real world. By using this system, dexterous grasp data can be collected efficiently as well as cost-effective. Finally, we construct the first dexterous functional grasp dataset with rich pose annotations. A Functional Grasp Synthesis Model is also provided to validate the effectiveness of the proposed system and dataset. Our project page is: https://hjlllll.github.io/DFG/.

Weiwei Gu, Anant Sah, Nakul Gopalan

We present a framework for robots to learn novel visual concepts and tasks via in-situ linguistic interactions with human users. Previous approaches have either used large pre-trained visual models to infer novel objects zero-shot, or added novel concepts along with their attributes and representations to a concept hierarchy. We extend the approaches that focus on learning visual concept hierarchies by enabling them to learn novel concepts and solve unseen robotics tasks with them. To enable a visual concept learner to solve robotics tasks one-shot, we developed two distinct techniques. Firstly, we propose a novel approach, Hi-Viscont(HIerarchical VISual CONcept learner for Task), which augments information of a novel concept to its parent nodes within a concept hierarchy. This information propagation allows all concepts in a hierarchy to update as novel concepts are taught in a continual learning setting. Secondly, we represent a visual task as a scene graph with language annotations, allowing us to create novel permutations of a demonstrated task zero-shot in-situ. We present two sets of results. Firstly, we compare Hi-Viscont with the baseline model (FALCON) on visual question answering(VQA) in three domains. While being comparable to the baseline model on leaf level concepts, Hi-Viscont achieves an improvement of over 9% on non-leaf concepts on average. Secondly, we conduct a human-subjects experiment where users teach our robot visual tasks in-situ. We compare our model’s performance against the baseline FALCON model. Our framework achieves 33% improvements in success rate metric, and 19% improvements in the object level accuracy compared to the baseline model. With both of these results we demonstrate the ability of our model to learn tasks and concepts in a continual learning setting on the robot.

Marcus Gozon, Jingjin Yu

In the 15-puzzle game, 15 labeled square tiles are reconfigured on a 4 × 4 board through an escort, wherein each (time) step, a single tile neighboring it may slide into it, leaving the space previously occupied by the tile as the new escort. We study a generalized sliding-tile puzzle (GSTP) in which (1) there are 1+ escorts and (2) multiple tiles can move synchronously in a single time step. Compared with popular discrete multi-agent/robot motion models, GSTP provides a more accurate model for a broad array of high-utility applications, including warehouse automation and autonomous garage parking, but is less studied due to the more involved tile interactions. In this work, we analyze optimal GSTP solution structures, establishing that computing makespan optimal solutions for GSTP is NP-complete and developing polynomial time algorithms yielding makespans approximating the minimum with expected/high probability constant factors, assuming randomized start and goal configurations.

Aakash, Indranil Saha

We study a variant of the multi-robot goal assignment problem where a unique goal to each robot needs to be assigned while minimizing the largest cost of movement among the robots, called makespan. A significant step in solving this problem is to find the cost associated with the robot-goal pairs, which requires solving a complex path planning problem. We present OM, a scalable optimal algorithm that solves the multi-robot goal assignment problem by computing the paths for a significantly less number of robot-goal pairs compared to the state-of-the-art algorithms, leading to a computationally superior mechanism to solve the problem. We extensively evaluate our algorithm for hundreds of robots on randomly generated and standard workspaces. Our experimental results demonstrate that the proposed algorithm achieves a noticeable speedup over two state-of-the-art baseline algorithms.

Yun Zhong, Yiannis Demiris

Dance is generally considered to be complex for most people as it requires coordination of numerous body motions and accurate responses to the musical content and rhythm. Studies on automatic dance performance assessment could help people improve their sensorimotor skills and promote research in many fields, including human motion analysis and motion generation. Recent papers on dance performance assessment usually evaluate simple dance motions with a single task - estimating final performance scores. In this paper, we propose DanceMVP: multi-task dance performance assessment via text prompting that solves three related tasks - (i) dance vocabulary recognition, (ii) dance performance scoring and (iii) dance rhythm evaluation. In the pre-training phase, we contrastively learn the primitive-based features of complex dance motion and music using the InfoNCE loss. For the downstream task, we propose a transformer-based text prompter to perform multi-task evaluations for the three proposed assessment tasks. Also, we build a multimodal dance-music dataset named ImperialDance. The novelty of our ImperialDance is that it contains dance motions for diverse expertise levels and a significant amount of repeating dance sequences for the same choreography to keep track of the dance performance progression. Qualitative results show that our pre-trained feature representation could cluster dance pieces for different dance genres, choreographies, expertise levels and primitives, which generalizes well on both ours and other dance-music datasets. The downstream experiments demonstrate the robustness and improvement of our method over several ablations and baselines across all three tasks, as well as monitoring the users' dance level progression.

Zuozhen Zhang, Junzhong Ji, Jinduo Liu

In recent years, the discovery of brain effective connectivity (EC) networks through computational analysis of functional magnetic resonance imaging (fMRI) data has gained prominence in neuroscience and neuroimaging. However, owing to the influence of diverse factors during data collection and processing, fMRI data typically exhibits high noise and limited sample characteristics, consequently leading to suboptimal performance of current methods. In this paper, we propose a novel brain effective connectivity discovery method based on meta-reinforcement learning, called MetaRLEC. The method mainly consists of three modules: actor, critic, and meta-critic. MetaRLEC first employs an encoder-decoder framework: the encoder utilizing a Transformer, converts noisy fMRI data into a state embedding; the decoder employing bidirectional LSTM, discovers brain region dependencies from the state and generates actions (EC networks). Then a critic network evaluates these actions, incentivizing the actor to learn higher-reward actions amidst the high-noise setting. Finally, a meta-critic framework facilitates online learning of historical state-action pairs, integrating an action-value neural network and supplementary training losses to enhance the model's adaptability to small-sample fMRI data. We conduct comprehensive experiments on both simulated and real-world data to demonstrate the efficacy of our proposed method.

Zhi Zhang, Shenghua Zhong, Yan Liu

In recent years, using Electroencephalography (EEG) to recognize emotions has garnered considerable attention. Despite advancements, limited EEG data restricts its potential. Thus, Generative Adversarial Networks (GANs) are proposed to mimic the observed distributions and generate EEG data. However, for imbalanced datasets, GANs struggle to produce reliable augmentations for under-represented minority emotions by merely mimicking them. Thus, we introduce Emotional Subspace Constrained Generative Adversarial Networks (ESC-GAN) as an alternative to existing frameworks. We first propose the EEG editing paradigm, editing reference EEG signals from well-represented to under-represented emotional subspaces. Then, we introduce diversity-aware and boundary-aware losses to constrain the augmented subspace. Here, the diversity-aware loss encourages a diverse emotional subspace by enlarging the sample difference, while boundary-aware loss constrains the augmented subspace near the decision boundary where recognition models can be vulnerable. Experiments show ESC-GAN boosts emotion recognition performance on benchmark datasets, DEAP, AMIGOS, and SEED, while protecting against potential adversarial attacks. Finally, the proposed method opens new avenues for editing EEG signals under emotional subspace constraints, facilitating unbiased and secure EEG data augmentation.

Zahra Zahedi, Sailik Sengupta, Subbarao Kambhampati

In this work, we design an Artificially Intelligent Task Allocator (AITA) that proposes a task allocation for a team of humans. A key property of this allocation is that when an agent with imperfect knowledge (about their teammate's costs and/or the team's performance metric) contests the allocation with a counterfactual, a contrastive explanation can always be provided to showcase why the proposed allocation is better than the proposed counterfactual. For this, we consider a negotiation process that produces a negotiation-aware task allocation and, when contested, leverages a negotiation tree to provide a contrastive explanation. With human subject studies, we show that the proposed allocation indeed appears fair to a majority of participants and, when not, the explanations generated are judged as convincing and easy to comprehend.

Wenjie Yin, Yi Yu, Hang Yin, Danica Kragic, Mårten Björkman

Current training of motion style transfer systems relies on consistency losses across style domains to preserve contents, hindering its scalable application to a large number of domains and private data. Recent image transfer works show the potential of independent training on each domain by leveraging implicit bridging between diffusion models, with the content preservation, however, limited to simple data patterns. We address this by imposing biased sampling in backward diffusion while maintaining the domain independence in the training stage. We construct the bias from the source domain keyframes and apply them as the gradient of content constraints, yielding a framework with keyframe manifold constraint gradients (KMCGs). Our validation demonstrates the success of training separate models to transfer between as many as ten dance motion styles. Comprehensive experiments find a significant improvement in preserving motion contents in comparison to baseline and ablative diffusion-based style transfer models. In addition, we perform a human study for a subjective assessment of the quality of generated dance motions. The results validate the competitiveness of KMCGs.

Xueyuan Yang, Chao Yao, Xiaojuan Ban

Leveraging wearable devices for motion reconstruction has emerged as an economical and viable technique. Certain methodologies employ sparse Inertial Measurement Units (IMUs) on the human body and harness data-driven strategies to model human poses. However, the reconstruction of motion based solely on sparse IMU data is inherently fraught with ambiguity, a consequence of numerous identical IMU readings corresponding to different poses. In this paper, we explore the spatial importance of sparse sensors, supervised by text that describes specific actions. Specifically, uncertainty is introduced to derive weighted features for each IMU. We also design a Hierarchical Temporal Transformer (HTT) and apply contrastive learning to achieve precise temporal and feature alignment of sensor data with textual semantics. Experimental results demonstrate our proposed approach achieves significant improvements in multiple metrics compared to existing methods. Notably, with textual supervision, our method not only differentiates between ambiguous actions such as sitting and standing but also produces more precise and natural motion.

Di Wu, Wu Sun, Yi He, Zhong Chen, Xin Luo

Taking incompatible multiple drugs together may cause adverse interactions and side effects on the body. Accurate prediction of drug-drug interaction (DDI) events is essential for avoiding this issue. Recently, various artificial intelligence-based approaches have been proposed for predicting DDI events. However, DDI events are associated with complex relationships and mechanisms among drugs, targets, enzymes, transporters, molecular structures, etc. Existing approaches either partially or loosely consider these relationships and mechanisms by a non-end-to-end learning framework, resulting in sub-optimal feature extractions and fusions for prediction. Different from them, this paper proposes a Multimodal Knowledge Graph Fused End-to-end Neural Network (MKGFENN) that consists of two main parts: multimodal knowledge graph (MKG) and fused end-to-end neural network (FENN). First, MKG is constructed by comprehensively exploiting DDI events-associated relationships and mechanisms from four knowledge graphs of drugs-chemical entities, drug-substructures, drugs-drugs, and molecular structures. Correspondingly, a four channels graph neural network is designed to extract high-order and semantic features from MKG. Second, FENN designs a multi-layer perceptron to fuse the extracted features by end-to-end learning. With such designs, the feature extractions and fusions of DDI events are guaranteed to be comprehensive and optimal for prediction. Through extensive experiments on real drug datasets, we demonstrate that MKG-FENN exhibits high accuracy and significantly outperforms state-of-the-art models in predicting DDI events. The source code and supplementary file of this article are available on: https://github.com/wudi1989/MKG-FENN.

Devin White, Mingkang Wu, Ellen Novoseller, Vernon J. Lawhern, Nicholas Waytowich, Yongcan Cao

This paper develops a novel rating-based reinforcement learning approach that uses human ratings to obtain human guidance in reinforcement learning. Different from the existing preference-based and ranking-based reinforcement learning paradigms, based on human relative preferences over sample pairs, the proposed rating-based reinforcement learning approach is based on human evaluation of individual trajectories without relative comparisons between sample pairs. The rating-based reinforcement learning approach builds on a new prediction model for human ratings and a novel multi-class loss function. We conduct several experimental studies based on synthetic ratings and real human ratings to evaluate the effectiveness and benefits of the new rating-based reinforcement learning approach.

Tongxin Wang, Mang Ye

Fashion image editing aims to edit an input image to obtain richer or distinct visual clothing matching effects. Existing global fashion image editing methods are difficult to achieve rich outfit combination effects while local fashion image editing is more in line with the needs of diverse and personalized outfit matching. The local editing techniques typically depend on text and auxiliary modalities (e.g., human poses, human keypoints, garment sketches, etc.) for image manipulation, where the auxiliary modalities essentially assist in locating the editing region. Since these auxiliary modalities usually involve additional efforts in practical application scenarios, text-driven fashion image editing shows high flexibility. In this paper, we propose TexFit, a Text-driven Fashion image Editing method using diffusion models, which performs the local image editing only with the easily accessible text. Our approach employs a text-based editing region location module to predict precise editing region in the fashion image. Then, we take the predicted region as the generation condition of diffusion models together with the text prompt to achieve precise local editing of fashion images while keeping the rest part intact. In addition, previous fashion datasets usually focus on global description, lacking local descriptive information that can guide the precise local editing. Therefore, we develop a new DFMM-Spotlight dataset by using region extraction and attribute combination strategies. It focuses locally on clothes and accessories, enabling local editing with text input. Experimental results on the DFMM-Spotlight dataset demonstrate the effectiveness of our model. Code and Datasets are available at https://texfit.github.io/.

Miaohui Wang, Rong Zhang, Lirong Huang, Yanshan Li

Composite images (CIs) typically combine various elements from different scenes, views, and styles, which are a very important information carrier in the era of mixed media such as virtual reality, mixed reality, metaverse, etc. However, the complexity of CI content presents a significant challenge for subsequent visual perception modeling and compression. In addition, the lack of benchmark CI databases also hinders the use of recent advanced data-driven methods. To address these challenges, we first establish one of the earliest visual redundancy prediction (VRP) databases for CIs. Moreover, we propose a multi-visual effect (MVE)-driven incremental learning method that combines the strengths of hand-crafted and data-driven approaches to achieve more accurate VRP modeling. Specifically, we design special incremental rules to learn the visual knowledge flow of MVE. To effectively capture the associated features of MVE, we further develop a three-stage incremental learning approach for VRP based on an encoder-decoder network. Extensive experimental results validate the superiority of the proposed method in terms of subjective, objective, and compression experiments.

Binglu Wang, Chenxi Guo, Yang Jin, Haisheng Xia, Nian Liu

Gaze object prediction aims to predict the location and category of the object that is watched by a human. Previous gaze object prediction works use CNN-based object detectors to predict the object's location. However, we find that Transformer-based object detectors can predict more accurate object location for dense objects in retail scenarios. Moreover, the long-distance modeling capability of the Transformer can help to build relationships between the human head and the gaze object, which is important for the GOP task. To this end, this paper introduces Transformer into the fields of gaze object prediction and proposes an end-to-end Transformer-based gaze object prediction method named TransGOP. Specifically, TransGOP uses an off-the-shelf Transformer-based object detector to detect the location of objects and designs a Transformer-based gaze autoencoder in the gaze regressor to establish long-distance gaze relationships. Moreover, to improve gaze heatmap regression, we propose an object-to-gaze cross-attention mechanism to let the queries of the gaze autoencoder learn the global-memory position knowledge from the object detector. Finally, to make the whole framework end-to-end trained, we propose a Gaze Box loss to jointly optimize the object detector and gaze regressor by enhancing the gaze heatmap energy in the box of the gaze object. Extensive experiments on the GOO-Synth and GOO-Real datasets demonstrate that our TransGOP achieves state-of-the-art performance on all tracks, i.e., object detection, gaze estimation, and gaze object prediction. Our code will be available at https://github.com/chenxi-Guo/TransGOP.git.

Idan Toker, David Sarne, Jonathan Schler

This paper focuses in the inherent anchoring bias present in sequential reviews-sentiment corpora annotation processes. It proposes employing a limited subset of meticulously chosen reviews at the outset of the process, as a means of calibration, effectively mitigating the phenomenon. Through extensive experimentation we validate the phenomenon of sentiment bias in the annotation process and show that its magnitude can be influenced by pre-calibration. Furthermore, we show that the choice of the calibration set matters, hence the need for effective guidelines for choosing the reviews to be included in it. A comparison of annotators performance with the proposed calibration to annotation processes that do not use calibration or use a randomly-picked calibration set, reveals that indeed the calibration set picked is highly effective---it manages to substantially reduce the average absolute error compared to the other cases. Furthermore, the proposed selection guidelines are found to be highly robust in picking an effective calibration set also for domains different than the one based on which these rules were extracted.

Rajalaxmi Rajagopalan, Yu-Lin Wei, Romit Roy Choudhury

We consider the problem of personalizing audio to maximize user experience. Briefly, we aim to find a filter h*, which applied to any music or speech, will maximize the user’s satisfaction. This is a black-box optimization problem since the user’s satisfaction function is unknown. Substantive work has been done on this topic where the key idea is to play audio samples to the user, each shaped by a different filter hi, and query the user for their satisfaction scores f(hi). A family of “surrogate” functions is then designed to fit these scores and the optimization method gradually refines these functions to arrive at the filter ˆh* that maximizes satisfaction. In certain applications, we observe that a second type of querying is possible where users can tell us the individual elements h*[j] of the optimal filter h*. Consider an analogy from cooking where the goal is to cook a recipe that maximizes user satisfaction. A user can be asked to score various cooked recipes (e.g., tofu fried rice) or to score individual ingredients (say, salt, sugar, rice, chicken, etc.). Given a budget of B queries, where a query can be of either type, our goal is to find the recipe that will maximize this user’s satisfaction. Our proposal builds on Sparse Gaussian Process Regression (GPR) and shows how a hybrid approach can outperform any one type of querying. Our results are validated through simulations and real world experiments, where volunteers gave feedback on music/speech audio and were able to achieve high satisfaction levels. We believe this idea of hybrid querying opens new problems in black-box optimization and solutions can benefit other applications beyond audio personalization.