OpenRaiser/Intern-Atlas huggingface dataset:
TIM: A Time Interval Machine for Audio-Visual Action Recognition
Venue: Conference CVPR 2024
Year: 2024

Diverse actions give rise to rich audio-visual signals in long videos. Recent works showcase that the two modalities of audio and video exhibit different temporal extents of events and distinct labels. We address the interplay between the two modalities in long videos by explicitly modelling the temporal extents of audio and visual events. We propose the Time Interval Machine (TIM) where a modality-specific time interval poses as a query to a transformer encoder that ingests a long video input. The encoder then attends to the specified interval, as well as the surrounding context in both modalities, in order to recognise the ongoing action. We test TIM on three long audio-visual video datasets: EPIC-KITCHENS, Perception Test, and AVE, reporting state-of-the-art (SOTA) for recognition. On EPIC-KITCHENS, we beat previous SOTA that utilises LLMs and significantly larger pre-training by 2.9% top-1 action recognition accuracy. Additionally, we show that TIM can be adapted for action detection, using dense multi-scale interval queries, outperforming SOTA on EPIC-KITCHENS-100 for most metrics, and showing strong performance on the Perception Test. Our ablations show the critical role of integrating the two modalities and modelling their time intervals in achieving this performance. Code and models at: https://github.com/JacobChalk/TIM
Would Deep Generative Models Amplify Bias in Future Models?
Venue: Conference CVPR 2024
Year: 2024

We investigate the impact of deep generative models on potential social biases in upcoming computer vision models. As the internet witnesses an increasing influx of AI-generated images, concerns arise regarding inherent biases that may accompany them, potentially leading to the dissemination of harmful content. This paper explores whether a detrimental feedback loop, resulting in bias amplification, would occur if generated images were used as the training data for future models. We conduct simulations by progressively substituting original images in COCO and CC3M datasets with images generated through Stable Diffusion. The modified datasets are used to train OpenCLIP and image captioning models, which we evaluate in terms of quality and bias. Contrary to expectations, our findings indicate that introducing generated images during training does not uniformly amplify bias. Instead, instances of bias mitigation across specific tasks are observed. We further explore the factors that may influence these phenomena, such as artifacts in image generation (e.g., blurry faces) or pre-existing biases in the original datasets.
AIDE: An Automatic Data Engine for Object Detection in Autonomous Driving
Venue: Conference CVPR 2024
Year: 2024

Autonomous vehicle (AV) systems rely on robust perception models as a cornerstone of safety assurance. However, objects encountered on the road exhibit a long-tailed distribution, with rare or unseen categories posing challenges to a deployed perception model. This necessitates an expensive process of continuously curating and annotating data with significant human effort. We propose to leverage recent advances in vision-language and large language models to design an Automatic Data Engine (AIDE) that automatically identifies issues, efficiently curates data, improves the model through auto-labeling, and verifies the model through generation of diverse scenarios. This process operates iteratively, allowing for continuous self-improvement of the model. We further establish a benchmark for open-world detection on AV datasets to comprehensively evaluate various learning paradigms, demonstrating our method's superior performance at a reduced cost.
Smart Help: Strategic Opponent Modeling for Proactive and Adaptive Robot Assistance in Households
Venue: Conference CVPR 2024
Year: 2024

Despite the significant demand for assistive technology among vulnerable groups (e.g., the elderly, children, and the disabled) in daily tasks, research into advanced AI-driven assistive solutions that genuinely accommodate their diverse needs remains sparse. Traditional human-machine interaction tasks often require machines to simply help without nuanced consideration of human abilities and feelings, such as their opportunity for practice and learning, sense of self-improvement, and self-esteem. Addressing this gap, we define a pivotal and novel challenge Smart Help, which aims to provide proactive yet adaptive support to human agents with diverse disabilities and dynamic goals in various tasks and environments. To establish this challenge, we leverage AI2-THOR to build a new interactive 3D realistic household environment for the Smart Help task. We introduce an innovative opponent modeling module that provides a nuanced understanding of the main agent's capabilities and goals, in order to optimize the assisting agent's helping policy. Rigorous experiments validate the efficacy of our model components and show the superiority of our holistic approach against established baselines. Our findings illustrate the potential of AI-imbued assistive robots in improving the well-being of vulnerable groups.
Rapid Motor Adaptation for Robotic Manipulator Arms
Venue: Conference CVPR 2024
Year: 2024

Developing generalizable manipulation skills is a core challenge in embodied AI. This includes generalization across diverse task configurations, encompassing variations in object shape, density, friction coefficient, and external disturbances such as forces applied to the robot. Rapid Motor Adaptation (RMA) offers a promising solution to this challenge. It posits that essential hidden variables influencing an agent's task performance, such as object mass and shape, can be effectively inferred from the agent's action and proprioceptive history. Drawing inspiration from RMA in locomotion and in-hand rotation, we use depth perception to develop agents tailored for rapid motor adaptation in a variety of manipulation tasks. We evaluated our agents on four challenging tasks from the Maniskill2 benchmark, namely pick-and-place operations with hundreds of objects from the YCB and EGAD datasets, peg insertion with precise position and orientation, and operating a variety of faucets and handles, with customized environment variations. Empirical results demonstrate that our agents surpass state-of-the-art methods like automatic domain randomization and vision-based policies, obtaining better generalization performance and sample efficiency.
WWW: A Unified Framework for Explaining What Where and Why of Neural Networks by Interpretation of Neuron Concepts
Venue: Conference CVPR 2024
Year: 2024

Recent advancements in neural networks have showcased their remarkable capabilities across various domains. Despite these successes, the "black box" problem still remains. Addressing this, we propose a novel framework, WWW, that offers the 'what', 'where', and 'why' of the neural network decisions in human-understandable terms. Specifically, WWW utilizes adaptive selection for concept discovery, employing adaptive cosine similarity and thresholding techniques to effectively explain 'what'. To address the 'where' and 'why', we proposed a novel combination of neuron activation maps (NAMs) with Shapley values, generating localized concept maps and heatmaps for individual inputs. Furthermore, WWW introduces a method for predicting uncertainty, leveraging heatmap similarities to estimate 'how' reliable the prediction is. Experimental evaluations of WWW demonstrate superior performance in both quantitative and qualitative metrics, outperforming existing methods in interpretability. WWW provides a unified solution for explaining 'what', 'where', and 'why', introducing a method for localized explanations from global interpretations and offering a plug-and-play solution adaptable to various architectures.
ICP-Flow: LiDAR Scene Flow Estimation with ICP
Venue: Conference CVPR 2024
Year: 2024

Scene flow characterizes the 3D motion between two LiDAR scans captured by an autonomous vehicle at nearby timesteps. Prevalent methods consider scene flow as point-wise unconstrained flow vectors that can be learned by either large-scale training beforehand or time-consuming optimization at inference. However, these methods do not take into account that objects in autonomous driving often move rigidly. We incorporate this rigid-motion assumption into our design, where the goal is to associate objects over scans and then estimate the locally rigid transformations. We propose ICP-Flow, a learning-free flow estimator. The core of our design is the conventional Iterative Closest Point (ICP) algorithm, which aligns the objects over time and outputs the corresponding rigid transformations. Crucially, to aid ICP, we propose a histogram-based initialization that discovers the most likely translation, thus providing a good starting point for ICP. The complete scene flow is then recovered from the rigid transformations. We outperform state-of-the-art baselines, including supervised models, on the Waymo dataset and perform competitively on Argoverse-v2 and nuScenes. Further, we train a feedforward neural network, supervised by the pseudo labels from our model, and achieve top performance among all models capable of real-time inference. We validate the advantage of our model on scene flow estimation with longer temporal gaps, up to 0.4 seconds where other models fail to deliver meaningful results.
MADTP: Multimodal Alignment-Guided Dynamic Token Pruning for Accelerating Vision-Language Transformer
Venue: Conference CVPR 2024
Year: 2024

Vision-Language Transformers (VLTs) have shown great success recently, but are meanwhile accompanied by heavy computation costs, where a major reason can be attributed to the large number of visual and language tokens. Existing token pruning research for compressing VLTs mainly follows a single-modality-based scheme yet ignores the critical role of aligning different modalities for guiding the token pruning process, causing the important tokens for one modality to be falsely pruned in another modality branch. Meanwhile, existing VLT pruning works also lack the flexibility to dynamically compress each layer based on different input samples. To this end, we propose a novel framework named Multimodal Alignment-Guided Dynamic Token Pruning (MADTP) for accelerating various VLTs. Specifically, we first introduce a well-designed Multi-modality Alignment Guidance (MAG) module that can align features of the same semantic concept from different modalities, to ensure the pruned tokens are less important for all modalities. We further design a novel Dynamic Token Pruning (DTP) module, which can adaptively adjust the token compression ratio in each layer based on different input instances. Extensive experiments on various benchmarks demonstrate that MADTP significantly reduces the computational complexity of kinds of multimodal models while preserving competitive performance. Notably, when applied to the BLIP model in the NLVR2 dataset, MADTP can reduce the GFLOPs by 80% with less than 4% performance degradation.
G-NeRF: Geometry-enhanced Novel View Synthesis from Single-View Images
Venue: Conference CVPR 2024
Year: 2024

Novel view synthesis aims to generate new view images of a given view image collection. Recent attempts address this problem relying on 3D geometry priors (e.g., shapes, sizes, and positions) learned from multi-view images. However, such methods encounter the following limitations: 1) they require a set of multi-view images as training data for a specific scene (e.g., face, car or chair), which is often unavailable in many real-world scenarios; 2) they fail to extract the geometry priors from single-view images due to the lack of multi-view supervision. In this paper, we propose a Geometry-enhanced NeRF (G-NeRF), which seeks to enhance the geometry priors by a geometry-guided multi-view synthesis approach, followed by a depth-aware training. In the synthesis process, inspired that existing 3D GAN models can unconditionally synthesize high-fidelity multi-view images, we seek to adopt off-the-shelf 3D GAN models, such as EG3D, as a free source to provide geometry priors through synthesizing multi-view data. Simultaneously, to further improve the geometry quality of the synthetic data, we introduce a truncation method to effectively sample latent codes within 3D GAN models. To tackle the absence of multi-view supervision for single-view images, we design the depth-aware training approach, incorporating a depth-aware discriminator to guide geometry priors through depth maps. Experiments demonstrate the effectiveness of our method in terms of both qualitative and quantitative results.
Continuous Pose for Monocular Cameras in Neural Implicit Representation
Venue: Conference CVPR 2024
Year: 2024

In this paper, we showcase the effectiveness of optimizing monocular camera poses as a continuous function of time. The camera poses are represented using an implicit neural function which maps the given time to the corresponding camera pose. The mapped camera poses are then used for the downstream tasks where joint camera pose optimization is also required. While doing so, the network parameters -- that implicitly represent camera poses -- are optimized. We exploit the proposed method in four diverse experimental settings, namely, (1) NeRF from noisy poses; (2) NeRF from asynchronous Events; (3) Visual Simultaneous Localization and Mapping (vSLAM); and (4) vSLAM with IMUs. In all four settings, the proposed method performs significantly better than the compared baselines and the state-of-the-art methods. Additionally, using the assumption of continuous motion, changes in pose may actually live in a manifold that has lower than 6 degrees of freedom (DOF) is also realized. We call this low DOF motion representation as the \emph{intrinsic motion} and use the approach in vSLAM settings, showing impressive camera tracking performance.
The Unreasonable Effectiveness of Pre-Trained Features for Camera Pose Refinement
Venue: Conference CVPR 2024
Year: 2024

Pose refinement is an interesting and practically relevant research direction. Pose refinement can be used to (1) obtain a more accurate pose estimate from an initial prior (e.g., from retrieval), (2) as pre-processing, i.e., to provide a better starting point to a more expensive pose estimator, (3) as post-processing of a more accurate localizer. Existing approaches focus on learning features / scene representations for the pose refinement task. This involves training an implicit scene representation or learning features while optimizing a camera pose-based loss. A natural question is whether training specific features / representations is truly necessary or whether similar results can be already achieved with more generic features. In this work, we present a simple approach that combines pre-trained features with a particle filter and a renderable representation of the scene. Despite its simplicity, it achieves state-of-the-art results, demonstrating that one can easily build a pose refiner without the need for specific training. The code is at https://github.com/ga1i13o/mcloc_poseref
CLIP as RNN: Segment Countless Visual Concepts without Training Endeavor
Venue: Conference CVPR 2024
Year: 2024

Existing open-vocabulary image segmentation methods require a fine-tuning step on mask labels and/or image-text datasets. Mask labels are labor-intensive, which limits the number of categories in segmentation datasets. Consequently, the vocabulary capacity of pre-trained VLMs is severely reduced after fine-tuning. However, without fine-tuning, VLMs trained under weak image-text supervision tend to make suboptimal mask predictions. To alleviate these issues, we introduce a novel recurrent framework that progressively filters out irrelevant texts and enhances mask quality without training efforts. The recurrent unit is a two-stage segmenter built upon a frozen VLM. Thus, our model retains the VLM's broad vocabulary space and equips it with segmentation ability. Experiments show that our method outperforms not only the training-free counterparts, but also those fine-tuned with millions of data samples, and sets the new state-of-the-art records for both zero-shot semantic and referring segmentation. Concretely, we improve the current record by 28.8, 16.0, and 6.9 mIoU on Pascal VOC, COCO Object, and Pascal Context.
Active Generalized Category Discovery
Venue: Conference CVPR 2024
Year: 2024

Generalized Category Discovery (GCD) is a pragmatic and challenging open-world task, which endeavors to cluster unlabeled samples from both novel and old classes, leveraging some labeled data of old classes. Given that knowledge learned from old classes is not fully transferable to new classes, and that novel categories are fully unlabeled, GCD inherently faces intractable problems, including imbalanced classification performance and inconsistent confidence between old and new classes, especially in the low-labeling regime. Hence, some annotations of new classes are deemed necessary. However, labeling new classes is extremely costly. To address this issue, we take the spirit of active learning and propose a new setting called Active Generalized Category Discovery (AGCD). The goal is to improve the performance of GCD by actively selecting a limited amount of valuable samples for labeling from the oracle. To solve this problem, we devise an adaptive sampling strategy, which jointly considers novelty, informativeness and diversity to adaptively select novel samples with proper uncertainty. However, owing to the varied orderings of label indices caused by the clustering of novel classes, the queried labels are not directly applicable to subsequent training. To overcome this issue, we further propose a stable label mapping algorithm that transforms ground truth labels to the label space of the classifier, thereby ensuring consistent training across different active selection stages. Our method achieves state-of-the-art performance on both generic and fine-grained datasets. Our code is available at https://github.com/mashijie1028/ActiveGCD
OpenBias: Open-set Bias Detection in Text-to-Image Generative Models
Venue: Conference CVPR 2024
Year: 2024

Text-to-image generative models are becoming increasingly popular and accessible to the general public. As these models see large-scale deployments, it is necessary to deeply investigate their safety and fairness to not disseminate and perpetuate any kind of biases. However, existing works focus on detecting closed sets of biases defined a priori, limiting the studies to well-known concepts. In this paper, we tackle the challenge of open-set bias detection in text-to-image generative models presenting OpenBias, a new pipeline that identifies and quantifies the severity of biases agnostically, without access to any precompiled set. OpenBias has three stages. In the first phase, we leverage a Large Language Model (LLM) to propose biases given a set of captions. Secondly, the target generative model produces images using the same set of captions. Lastly, a Vision Question Answering model recognizes the presence and extent of the previously proposed biases. We study the behavior of Stable Diffusion 1.5, 2, and XL emphasizing new biases, never investigated before. Via quantitative experiments, we demonstrate that OpenBias agrees with current closed-set bias detection methods and human judgement.
Point2RBox: Combine Knowledge from Synthetic Visual Patterns for End-to-end Oriented Object Detection with Single Point Supervision
Venue: Conference CVPR 2024
Year: 2024

With the rapidly increasing demand for oriented object detection (OOD), recent research involving weakly-supervised detectors for learning rotated box (RBox) from the horizontal box (HBox) has attracted more and more attention. In this paper, we explore a more challenging yet label-efficient setting, namely single point-supervised OOD, and present our approach called Point2RBox. Specifically, we propose to leverage two principles: 1) Synthetic pattern knowledge combination: By sampling around each labeled point on the image, we spread the object feature to synthetic visual patterns with known boxes to provide the knowledge for box regression. 2) Transform self-supervision: With a transformed input image (e.g. scaled/rotated), the output RBoxes are trained to follow the same transformation so that the network can perceive the relative size/rotation between objects. The detector is further enhanced by a few devised techniques to cope with peripheral issues, e.g. the anchor/layer assignment as the size of the object is not available in our point supervision setting. To our best knowledge, Point2RBox is the first end-to-end solution for point-supervised OOD. In particular, our method uses a lightweight paradigm, yet it achieves a competitive performance among point-supervised alternatives, 41.05%/27.62%/80.01% on DOTA/DIOR/HRSC datasets.
HRVDA: High-Resolution Visual Document Assistant
Venue: Conference CVPR 2024
Year: 2024

Leveraging vast training data, multimodal large language models (MLLMs) have demonstrated formidable general visual comprehension capabilities and achieved remarkable performance across various tasks. However, their performance in visual document understanding still leaves much room for improvement. This discrepancy is primarily attributed to the fact that visual document understanding is a fine-grained prediction task. In natural scenes, MLLMs typically use low-resolution images, leading to a substantial loss of visual information. Furthermore, general-purpose MLLMs do not excel in handling document-oriented instructions. In this paper, we propose a High-Resolution Visual Document Assistant (HRVDA), which bridges the gap between MLLMs and visual document understanding. This model employs a content filtering mechanism and an instruction filtering module to separately filter out the content-agnostic visual tokens and instruction-agnostic visual tokens, thereby achieving efficient model training and inference for high-resolution images. In addition, we construct a document-oriented visual instruction tuning dataset and apply a multi-stage training strategy to enhance the model's document modeling capabilities. Extensive experiments demonstrate that our model achieves state-of-the-art performance across multiple document understanding datasets, while maintaining training efficiency and inference speed comparable to low-resolution models.
Learning for Transductive Threshold Calibration in Open-World Recognition
Venue: Conference CVPR 2024
Year: 2024

In deep metric learning for visual recognition, the calibration of distance thresholds is crucial for achieving desired model performance in the true positive rates (TPR) or true negative rates (TNR). However, calibrating this threshold presents challenges in open-world scenarios, where the test classes can be entirely disjoint from those encountered during training. We define the problem of finding distance thresholds for a trained embedding model to achieve target performance metrics over unseen open-world test classes as open-world threshold calibration. Existing posthoc threshold calibration methods, reliant on inductive inference and requiring a calibration dataset with a similar distance distribution as the test data, often prove ineffective in open-world scenarios. To address this, we introduce OpenGCN, a Graph Neural Network-based transductive threshold calibration method with enhanced adaptability and robustness. OpenGCN learns to predict pairwise connectivity for the unlabeled test instances embedded in a graph to determine its TPR and TNR at various distance thresholds, allowing for transductive inference of the distance thresholds which also incorporates test-time information. Extensive experiments across open-world visual recognition benchmarks validate OpenGCN's superiority over existing posthoc calibration methods for open-world threshold calibration.