OpenRaiser/Intern-Atlas huggingface dataset:
New keypoint-based approach for recognising British Sign Language (BSL) from sequences
Venue: arXiv cs.CV 2024
Year: 2024

In this paper, we present a novel keypoint-based classification model designed to recognise British Sign Language (BSL) words within continuous signing sequences. Our model's performance is assessed using the BOBSL dataset, revealing that the keypoint-based approach surpasses its RGB-based counterpart in computational efficiency and memory usage. Furthermore, it offers expedited training times and demands fewer computational resources. To the best of our knowledge, this is the inaugural application of a keypoint-based model for BSL word classification, rendering direct comparisons with existing works unavailable.
Video Seal: Open and Efficient Video Watermarking
Venue: arXiv cs.MM 2024
Year: 2024

The proliferation of AI-generated content and sophisticated video editing tools has made it both important and challenging to moderate digital platforms. Video watermarking addresses these challenges by embedding imperceptible signals into videos, allowing for identification. However, the rare open tools and methods often fall short on efficiency, robustness, and flexibility. To reduce these gaps, this paper introduces Video Seal, a comprehensive framework for neural video watermarking and a competitive open-sourced model. Our approach jointly trains an embedder and an extractor, while ensuring the watermark robustness by applying transformations in-between, e.g., video codecs. This training is multistage and includes image pre-training, hybrid post-training and extractor fine-tuning. We also introduce temporal watermark propagation, a technique to convert any image watermarking model to an efficient video watermarking model without the need to watermark every high-resolution frame. We present experimental results demonstrating the effectiveness of the approach in terms of speed, imperceptibility, and robustness. Video Seal achieves higher robustness compared to strong baselines especially under challenging distortions combining geometric transformations and video compression. Additionally, we provide new insights such as the impact of video compression during training, and how to compare methods operating on different payloads. Contributions in this work - including the codebase, models, and a public demo - are open-sourced under permissive licenses to foster further research and development in the field.
Meshtron: High-Fidelity, Artist-Like 3D Mesh Generation at Scale
Venue: arXiv cs.GR 2024
Year: 2024

Meshes are fundamental representations of 3D surfaces. However, creating high-quality meshes is a labor-intensive task that requires significant time and expertise in 3D modeling. While a delicate object often requires over $10^4$ faces to be accurately modeled, recent attempts at generating artist-like meshes are limited to $1.6$K faces and heavy discretization of vertex coordinates. Hence, scaling both the maximum face count and vertex coordinate resolution is crucial to producing high-quality meshes of realistic, complex 3D objects. We present Meshtron, a novel autoregressive mesh generation model able to generate meshes with up to 64K faces at 1024-level coordinate resolution --over an order of magnitude higher face count and $8{\times}$ higher coordinate resolution than current state-of-the-art methods. Meshtron's scalability is driven by four key components: (1) an hourglass neural architecture, (2) truncated sequence training, (3) sliding window inference, (4) a robust sampling strategy that enforces the order of mesh sequences. This results in over $50{\%}$ less training memory, $2.5{\times}$ faster throughput, and better consistency than existing works. Meshtron generates meshes of detailed, complex 3D objects at unprecedented levels of resolution and fidelity, closely resembling those created by professional artists, and opening the door to more realistic generation of detailed 3D assets for animation, gaming, and virtual environments.
SynerGen-VL: Towards Synergistic Image Understanding and Generation with Vision Experts and Token Folding
Venue: arXiv cs.CV 2024
Year: 2024

The remarkable success of Large Language Models (LLMs) has extended to the multimodal domain, achieving outstanding performance in image understanding and generation. Recent efforts to develop unified Multimodal Large Language Models (MLLMs) that integrate these capabilities have shown promising results. However, existing approaches often involve complex designs in model architecture or training pipeline, increasing the difficulty of model training and scaling. In this paper, we propose SynerGen-VL, a simple yet powerful encoder-free MLLM capable of both image understanding and generation. To address challenges identified in existing encoder-free unified MLLMs, we introduce the token folding mechanism and the vision-expert-based progressive alignment pretraining strategy, which effectively support high-resolution image understanding while reducing training complexity. After being trained on large-scale mixed image-text data with a unified next-token prediction objective, SynerGen-VL achieves or surpasses the performance of existing encoder-free unified MLLMs with comparable or smaller parameter sizes, and narrows the gap with task-specific state-of-the-art models, highlighting a promising path toward future unified MLLMs. Our code and models shall be released.
V2PE: Improving Multimodal Long-Context Capability of Vision-Language Models with Variable Visual Position Encoding
Venue: arXiv cs.CV 2024
Year: 2024

Vision-Language Models (VLMs) have shown promising capabilities in handling various multimodal tasks, yet they struggle in long-context scenarios, particularly in tasks involving videos, high-resolution images, or lengthy image-text documents. In our work, we first conduct an empirical analysis of the long-context capabilities of VLMs using our augmented long-context multimodal datasets. Our findings reveal that directly applying the positional encoding mechanism used for textual tokens to visual tokens is suboptimal, and VLM performance degrades sharply when the position encoding exceeds the model's context window. To address this, we propose Variable Visual Position Encoding (V2PE), a novel positional encoding approach that employs variable and smaller increments for visual tokens, enabling more efficient management of long multimodal sequences. Our experiments demonstrate the effectiveness of V2PE to enhances VLMs' ability to effectively understand and reason over long multimodal contexts. We further integrate V2PE with our augmented long-context multimodal datasets to fine-tune the open-source VLM, InternVL2. The fine-tuned model achieves strong performance on both standard and long-context multimodal tasks. Notably, when the sequence length of the training dataset is increased to 256K tokens, the model is capable of processing multimodal sequences up to 1M tokens, highlighting its potential for real-world long-context applications.
Learning Camera Movement Control from Real-World Drone Videos
Venue: arXiv cs.CV 2024
Year: 2024

This study seeks to automate camera movement control for filming existing subjects into attractive videos, contrasting with the creation of non-existent content by directly generating the pixels. We select drone videos as our test case due to their rich and challenging motion patterns, distinctive viewing angles, and precise controls. Existing AI videography methods struggle with limited appearance diversity in simulation training, high costs of recording expert operations, and difficulties in designing heuristic-based goals to cover all scenarios. To avoid these issues, we propose a scalable method that involves collecting real-world training data to improve diversity, extracting camera trajectories automatically to minimize annotation costs, and training an effective architecture that does not rely on heuristics. Specifically, we collect 99k high-quality trajectories by running 3D reconstruction on online videos, connecting camera poses from consecutive frames to formulate 3D camera paths, and using Kalman filter to identify and remove low-quality data. Moreover, we introduce DVGFormer, an auto-regressive transformer that leverages the camera path and images from all past frames to predict camera movement in the next frame. We evaluate our system across 38 synthetic natural scenes and 7 real city 3D scans. We show that our system effectively learns to perform challenging camera movements such as navigating through obstacles, maintaining low altitude to increase perceived speed, and orbiting towers and buildings, which are very useful for recording high-quality videos. Data and code are available at dvgformer.github.io.
Doe-1: Closed-Loop Autonomous Driving with Large World Model
Venue: arXiv cs.CV 2024
Year: 2024

End-to-end autonomous driving has received increasing attention due to its potential to learn from large amounts of data. However, most existing methods are still open-loop and suffer from weak scalability, lack of high-order interactions, and inefficient decision-making. In this paper, we explore a closed-loop framework for autonomous driving and propose a large Driving wOrld modEl (Doe-1) for unified perception, prediction, and planning. We formulate autonomous driving as a next-token generation problem and use multi-modal tokens to accomplish different tasks. Specifically, we use free-form texts (i.e., scene descriptions) for perception and generate future predictions directly in the RGB space with image tokens. For planning, we employ a position-aware tokenizer to effectively encode action into discrete tokens. We train a multi-modal transformer to autoregressively generate perception, prediction, and planning tokens in an end-to-end and unified manner. Experiments on the widely used nuScenes dataset demonstrate the effectiveness of Doe-1 in various tasks including visual question-answering, action-conditioned video generation, and motion planning. Code: https://github.com/wzzheng/Doe.
DQA: An Efficient Method for Deep Quantization of Deep Neural Network Activations
Venue: arXiv cs.LG 2024
Year: 2024

Quantization of Deep Neural Network (DNN) activations is a commonly used technique to reduce compute and memory demands during DNN inference, which can be particularly beneficial on resource-constrained devices. To achieve high accuracy, existing methods for quantizing activations rely on complex mathematical computations or perform extensive searches for the best hyper-parameters. However, these expensive operations are impractical on devices with limited computation capabilities, memory capacities, and energy budgets. Furthermore, many existing methods do not focus on sub-6-bit (or deep) quantization. To fill these gaps, in this paper we propose DQA (Deep Quantization of DNN Activations), a new method that focuses on sub-6-bit quantization of activations and leverages simple shifting-based operations and Huffman coding to be efficient and achieve high accuracy. We evaluate DQA with 3, 4, and 5-bit quantization levels and three different DNN models for two different tasks, image classification and image segmentation, on two different datasets. DQA shows significantly better accuracy (up to 29.28%) compared to the direct quantization method and the state-of-the-art NoisyQuant for sub-6-bit quantization.
Human vs. AI: A Novel Benchmark and a Comparative Study on the Detection of Generated Images and the Impact of Prompts
Venue: arXiv cs.CV 2024
Year: 2024

With the advent of publicly available AI-based text-to-image systems, the process of creating photorealistic but fully synthetic images has been largely democratized. This can pose a threat to the public through a simplified spread of disinformation. Machine detectors and human media expertise can help to differentiate between AI-generated (fake) and real images and counteract this danger. Although AI generation models are highly prompt-dependent, the impact of the prompt on the fake detection performance has rarely been investigated yet. This work therefore examines the influence of the prompt's level of detail on the detectability of fake images, both with an AI detector and in a user study. For this purpose, we create a novel dataset, COCOXGEN, which consists of real photos from the COCO dataset as well as images generated with SDXL and Fooocus using prompts of two standardized lengths. Our user study with 200 participants shows that images generated with longer, more detailed prompts are detected significantly more easily than those generated with short prompts. Similarly, an AI-based detection model achieves better performance on images generated with longer prompts. However, humans and AI models seem to pay attention to different details, as we show in a heat map analysis.
MAC-Ego3D: Multi-Agent Gaussian Consensus for Real-Time Collaborative Ego-Motion and Photorealistic 3D Reconstruction
Venue: arXiv cs.CV 2024
Year: 2024

Real-time multi-agent collaboration for ego-motion estimation and high-fidelity 3D reconstruction is vital for scalable spatial intelligence. However, traditional methods produce sparse, low-detail maps, while recent dense mapping approaches struggle with high latency. To overcome these challenges, we present MAC-Ego3D, a novel framework for real-time collaborative photorealistic 3D reconstruction via Multi-Agent Gaussian Consensus. MAC-Ego3D enables agents to independently construct, align, and iteratively refine local maps using a unified Gaussian splat representation. Through Intra-Agent Gaussian Consensus, it enforces spatial coherence among neighboring Gaussian splats within an agent. For global alignment, parallelized Inter-Agent Gaussian Consensus, which asynchronously aligns and optimizes local maps by regularizing multi-agent Gaussian splats, seamlessly integrates them into a high-fidelity 3D model. Leveraging Gaussian primitives, MAC-Ego3D supports efficient RGB-D rendering, enabling rapid inter-agent Gaussian association and alignment. MAC-Ego3D bridges local precision and global coherence, delivering higher efficiency, largely reducing localization error, and improving mapping fidelity. It establishes a new SOTA on synthetic and real-world benchmarks, achieving a 15x increase in inference speed, order-of-magnitude reductions in ego-motion estimation error for partial cases, and RGB PSNR gains of 4 to 10 dB. Our code will be made publicly available at https://github.com/Xiaohao-Xu/MAC-Ego3D .
TelApart: Differentiating Network Faults from Customer-Premise Faults in Cable Broadband Networks
Venue: arXiv cs.NI 2024
Year: 2024

Two types of radio frequency (RF) impairments frequently occur in a cable broadband network: impairments that occur inside a cable network and impairments occur at the edge of the broadband network, i.e., in a subscriber's premise. Differentiating these two types of faults is important, as different faults require different types of technical personnel to repair them. Presently, the cable industry lacks publicly available tools to automatically diagnose the type of fault. In this work, we present TelApart, a fault diagnosis system for cable broadband networks. TelApart uses telemetry data collected by the Proactive Network Maintenance (PNM) infrastructure in cable networks to effectively differentiate the type of fault. Integral to TelApart's design is an unsupervised machine learning model that groups cable devices sharing similar anomalous patterns together. We use metrics derived from an ISP's customer trouble tickets to programmatically tune the model's hyper-parameters so that an ISP can deploy TelApart in various conditions without hand-tuning its hyper-parameters. We also address the data challenge that the telemetry data collected by the PNM system contain numerous missing, duplicated, and unaligned data points. Using real-world data contributed by a cable ISP, we show that TelApart can effectively identify different types of faults.
The FLoRA Engine: Using Analytics to Measure and Facilitate Learners' own Regulation Activities
Venue: arXiv cs.HC 2024
Year: 2024

The focus of education is increasingly set on learners' ability to regulate their own learning within technology-enhanced learning environments (TELs). Prior research has shown that self-regulated learning (SRL) leads to better learning performance. However, many learners struggle to self-regulate their learning productively, as they typically need to navigate a myriad of cognitive, metacognitive, and motivational processes that SRL demands. To address these challenges, the FLoRA engine is developed to assist students, workers, and professionals in improving their SRL skills and becoming productive lifelong learners. FLoRA incorporates several learning tools that are grounded in SRL theory and enhanced with learning analytics (LA), aimed at improving learners' mastery of different SRL skills. The engine tracks learners' SRL behaviours during a learning task and provides automated scaffolding to help learners effectively regulate their learning. The main contributions of FLoRA include (1) creating instrumentation tools that unobtrusively collect intensively sampled, fine-grained, and temporally ordered trace data about learners' learning actions, (2) building a trace parser that uses LA and related analytical technique (e.g., process mining) to model and understand learners' SRL processes, and (3) providing a scaffolding module that presents analytics-based adaptive, personalised scaffolds based on students' learning progress. The architecture and implementation of the FLoRA engine are also discussed in this paper.
Contingency Constrained Planning with MPPI within MPPI
Venue: arXiv cs.RO 2024
Year: 2024

For safety, autonomous systems must be able to consider sudden changes and enact contingency plans appropriately. State-of-the-art methods currently find trajectories that balance between nominal and contingency behavior, or plan for a singular contingency plan; however, this does not guarantee that the resulting plan is safe for all time. To address this research gap, this paper presents Contingency-MPPI, a data-driven optimization-based strategy that embeds contingency planning inside a nominal planner. By learning to approximate the optimal contingency-constrained control sequence with adaptive importance sampling, the proposed method's sampling efficiency is further improved with initializations from a lightweight path planner and trajectory optimizer. Finally, we present simulated and hardware experiments demonstrating our algorithm generating nominal and contingency plans in real time on a mobile robot.
EI-Drive: A Platform for Cooperative Perception with Realistic Communication Models
Venue: arXiv cs.RO 2024
Year: 2024

The growing interest in autonomous driving calls for realistic simulation platforms capable of accurately simulating cooperative perception process in realistic traffic scenarios. Existing studies for cooperative perception often have not accounted for transmission latency and errors in real-world environments. To address this gap, we introduce EI-Drive, an edge-AI based autonomous driving simulation platform that integrates advanced cooperative perception with more realistic communication models. Built on the CARLA framework, EI-Drive features new modules for cooperative perception while taking into account transmission latency and errors, providing a more realistic platform for evaluating cooperative perception algorithms. In particular, the platform enables vehicles to fuse data from multiple sources, improving situational awareness and safety in complex environments. With its modular design, EI-Drive allows for detailed exploration of sensing, perception, planning, and control in various cooperative driving scenarios. Experiments using EI-Drive demonstrate significant improvements in vehicle safety and performance, particularly in scenarios with complex traffic flow and network conditions. All code and documents are accessible on our GitHub page: \url{https://ucd-dare.github.io/eidrive.github.io/}.
SILA: Signal-to-Language Augmentation for Enhanced Control in Text-to-Audio Generation
Venue: arXiv cs.SD 2024
Year: 2024

The field of text-to-audio generation has seen significant advancements, and yet the ability to finely control the acoustic characteristics of generated audio remains under-explored. In this paper, we introduce a novel yet simple approach to generate sound effects with control over key acoustic parameters such as loudness, pitch, reverb, fade, brightness, noise and duration, enabling creative applications in sound design and content creation. These parameters extend beyond traditional Digital Signal Processing (DSP) techniques, incorporating learned representations that capture the subtleties of how sound characteristics can be shaped in context, enabling a richer and more nuanced control over the generated audio. Our approach is model-agnostic and is based on learning the disentanglement between audio semantics and its acoustic features. Our approach not only enhances the versatility and expressiveness of text-to-audio generation but also opens new avenues for creative audio production and sound design. Our objective and subjective evaluation results demonstrate the effectiveness of our approach in producing high-quality, customizable audio outputs that align closely with user specifications.
Distributed Inverse Dynamics Control for Quadruped Robots using Geometric Optimization
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints, and the high computational requirements of whole-body controllers. Current methods either ignore friction constraints entirely or use linear approximations, leading to potential slip and instability, while comprehensive whole-body controllers demand significant computational resources. Our approach uses full rigid-body dynamics and enforces exact friction cone constraints through a novel geometric optimization-based solver. DIDC combines the required generalized forces corresponding to the actuated and unactuated spaces by projecting them onto the actuated space while satisfying the physical constraints and maintaining orthogonality between the base and joint tracking objectives. Experimental validation shows that our approach reduces foot slippage, improves orientation tracking, and converges at least two times faster than existing reactive controllers with generic QP-based implementations. The controller enables stable omnidirectional trotting at various speeds and consumes less power than comparable methods while running efficiently on embedded processors.
MSC: Multi-Scale Spatio-Temporal Causal Attention for Autoregressive Video Diffusion
Venue: arXiv cs.CV 2024
Year: 2024

Diffusion transformers enable flexible generative modeling for video. However, it is still technically challenging and computationally expensive to generate high-resolution videos with rich semantics and complex motion. Similar to languages, video data are also auto-regressive by nature, so it is counter-intuitive to use attention mechanism with bi-directional dependency in the model. Here we propose a Multi-Scale Causal (MSC) framework to address these problems. Specifically, we introduce multiple resolutions in the spatial dimension and high-low frequencies in the temporal dimension to realize efficient attention calculation. Furthermore, attention blocks on multiple scales are combined in a controlled way to allow causal conditioning on noisy image frames for diffusion training, based on the idea that noise destroys information at different rates on different resolutions. We theoretically show that our approach can greatly reduce the computational complexity and enhance the efficiency of training. The causal attention diffusion framework can also be used for auto-regressive long video generation, without violating the natural order of frame sequences.