pwc-archive/papers-with-abstracts huggingface dataset:
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo
Authors: Thomas Kollar, Michael Laskey, Kevin Stone, Brijen Thananjeyan, Mark Tjersland
Date: 2021-06-30 00:00:00
Tasks: Keypoint Detection, Object, object-detection, Object Detection, Robot Manipulation, Semantic Segmentation, Transparent objects

Robot manipulation of unknown objects in unstructured environments is a challenging problem due to the variety of shapes, materials, arrangements and lighting conditions. Even with large-scale real-world data collection, robust perception and manipulation of transparent and reflective objects across various lighting conditions remain challenging. To address these challenges we propose an approach to performing sim-to-real transfer of robotic perception. The underlying model, SimNet, is trained as a single multi-headed neural network using simulated stereo data as input and simulated object segmentation masks, 3D oriented bounding boxes (OBBs), object keypoints, and disparity as output. A key component of SimNet is the incorporation of a learned stereo sub-network that predicts disparity. SimNet is evaluated on 2D car detection, unknown object detection, and deformable object keypoint detection and significantly outperforms a baseline that uses a structured light RGB-D sensor. By inferring grasp positions using the OBB and keypoint predictions, SimNet can be used to perform end-to-end manipulation of unknown objects in both easy and hard scenarios using our fleet of Toyota HSR robots in four home environments. In unknown object grasping experiments, the predictions from the baseline RGB-D network and SimNet enable successful grasps of most of the easy objects. However, the RGB-D baseline only grasps 35% of the hard (e.g., transparent) objects, while SimNet grasps 95%, suggesting that SimNet can enable robust manipulation of unknown objects, including transparent objects, in unknown environments.
Zero-shot Learning with Class Description Regularization
Authors: Shayan Kousha, Marcus A. Brubaker
Date: 2021-06-30 00:00:00
Tasks: Attribute, Zero-Shot Learning

The purpose of generative Zero-shot learning (ZSL) is to learning from seen classes, transfer the learned knowledge, and create samples of unseen classes from the description of these unseen categories. To achieve better ZSL accuracies, models need to better understand the descriptions of unseen classes. We introduce a novel form of regularization that encourages generative ZSL models to pay more attention to the description of each category. Our empirical results demonstrate improvements over the performance of multiple state-of-the-art models on the task of generalized zero-shot recognition and classification when trained on textual description-based datasets like CUB and NABirds and attribute-based datasets like AWA2, aPY and SUN.
Synthetic Data Are as Good as the Real for Association Knowledge Learning in Multi-object Tracking
Authors: Yuchi Liu, Zhongdao Wang, Xiangxin Zhou, Liang Zheng
Date: 2021-06-30 00:00:00
Tasks: Domain Adaptation, Multi-Object Tracking, Object Tracking

Association, aiming to link bounding boxes of the same identity in a video sequence, is a central component in multi-object tracking (MOT). To train association modules, e.g., parametric networks, real video data are usually used. However, annotating person tracks in consecutive video frames is expensive, and such real data, due to its inflexibility, offer us limited opportunities to evaluate the system performance w.r.t changing tracking scenarios. In this paper, we study whether 3D synthetic data can replace real-world videos for association training. Specifically, we introduce a large-scale synthetic data engine named MOTX, where the motion characteristics of cameras and objects are manually configured to be similar to those in real-world datasets. We show that compared with real data, association knowledge obtained from synthetic data can achieve very similar performance on real-world test sets without domain adaption techniques. Our intriguing observation is credited to two factors. First and foremost, 3D engines can well simulate motion factors such as camera movement, camera view and object movement, so that the simulated videos can provide association modules with effective motion features. Second, experimental results show that the appearance domain gap hardly harms the learning of association knowledge. In addition, the strong customization ability of MOTX allows us to quantitatively assess the impact of motion factors on MOT, which brings new insights to the community.
Multi-Source domain adaptation via supervised contrastive learning and confident consistency regularization
Authors: Marin Scalbert, Maria Vakalopoulou, Florent Couzinié-Devy
Date: 2021-06-30 00:00:00
Tasks: Contrastive Learning, Domain Adaptation, Multi-Source Unsupervised Domain Adaptation, Unsupervised Domain Adaptation

Multi-Source Unsupervised Domain Adaptation (multi-source UDA) aims to learn a model from several labeled source domains while performing well on a different target domain where only unlabeled data are available at training time. To align source and target features distributions, several recent works use source and target explicit statistics matching such as features moments or class centroids. Yet, these approaches do not guarantee class conditional distributions alignment across domains. In this work, we propose a new framework called Contrastive Multi-Source Domain Adaptation (CMSDA) for multi-source UDA that addresses this limitation. Discriminative features are learned from interpolated source examples via cross entropy minimization and from target examples via consistency regularization and hard pseudo-labeling. Simultaneously, interpolated source examples are leveraged to align source class conditional distributions through an interpolated version of the supervised contrastive loss. This alignment leads to more general and transferable features which further improves the generalization on the target domain. Extensive experiments have been carried out on three standard multi-source UDA datasets where our method reports state-of-the-art results.
Exploring the Latent Space of Autoencoders with Interventional Assays
Authors: Felix Leeb, Stefan Bauer, Michel Besserve, Bernhard Schölkopf
Date: 2021-06-30 00:00:00
Tasks: Disentanglement, Representation Learning

Autoencoders exhibit impressive abilities to embed the data manifold into a low-dimensional latent space, making them a staple of representation learning methods. However, without explicit supervision, which is often unavailable, the representation is usually uninterpretable, making analysis and principled progress challenging. We propose a framework, called latent responses, which exploits the locally contractive behavior exhibited by variational autoencoders to explore the learned manifold. More specifically, we develop tools to probe the representation using interventions in the latent space to quantify the relationships between latent variables. We extend the notion of disentanglement to take the learned generative process into account and consequently avoid the limitations of existing metrics that may rely on spurious correlations. Our analyses underscore the importance of studying the causal structure of the representation to improve performance on downstream tasks such as generation, interpolation, and inference of the factors of variation.
Leveraging Hidden Structure in Self-Supervised Learning
Authors: Emanuele Sansone
Date: 2021-06-30 00:00:00
Tasks: Self-Supervised Learning

This work considers the problem of learning structured representations from raw images using self-supervised learning. We propose a principled framework based on a mutual information objective, which integrates self-supervised and structure learning. Furthermore, we devise a post-hoc procedure to interpret the meaning of the learnt representations. Preliminary experiments on CIFAR-10 show that the proposed framework achieves higher generalization performance in downstream classification tasks and provides more interpretable representations compared to the ones learnt through traditional self-supervised learning.
A Survey on Adversarial Image Synthesis
Authors: William Roy, Glen Kelly, Robert Leer, Frederick Ricardo
Date: 2021-06-30 00:00:00
Tasks: Image Generation, Image-to-Image Translation, Survey, Translation

Generative Adversarial Networks (GANs) have been extremely successful in various application domains. Adversarial image synthesis has drawn increasing attention and made tremendous progress in recent years because of its wide range of applications in many computer vision and image processing problems. Among the many applications of GAN, image synthesis is the most well-studied one, and research in this area has already demonstrated the great potential of using GAN in image synthesis. In this paper, we provide a taxonomy of methods used in image synthesis, review different models for text-to-image synthesis and image-to-image translation, and discuss some evaluation metrics as well as possible future research directions in image synthesis with GAN.
ResViT: Residual vision transformers for multi-modal medical image synthesis
Authors: Onat Dalmaz, Mahmut Yurt, Tolga Çukur
Date: 2021-06-30 00:00:00
Tasks: Diversity, Image Generation, Image-to-Image Translation, Inductive Bias

Generative adversarial models with convolutional neural network (CNN) backbones have recently been established as state-of-the-art in numerous medical image synthesis tasks. However, CNNs are designed to perform local processing with compact filters, and this inductive bias compromises learning of contextual features. Here, we propose a novel generative adversarial approach for medical image synthesis, ResViT, that leverages the contextual sensitivity of vision transformers along with the precision of convolution operators and realism of adversarial learning.} ResViT's generator employs a central bottleneck comprising novel aggregated residual transformer (ART) blocks that synergistically combine residual convolutional and transformer modules. Residual connections in ART blocks promote diversity in captured representations, while a channel compression module distills task-relevant information. A weight sharing strategy is introduced among ART blocks to mitigate computational burden. A unified implementation is introduced to avoid the need to rebuild separate synthesis models for varying source-target modality configurations. Comprehensive demonstrations are performed for synthesizing missing sequences in multi-contrast MRI, and CT images from MRI. Our results indicate superiority of ResViT against competing CNN- and transformer-based methods in terms of qualitative observations and quantitative metrics.
Real-world Video Deblurring: A Benchmark Dataset and An Efficient Recurrent Neural Network
Authors: Zhihang Zhong, Ye Gao, Yinqiang Zheng, Bo Zheng, Imari Sato
Date: 2021-06-30 00:00:00
Proceeding: ECCV 2020 8
Tasks: Deblurring, Image Deblurring, Video Deblurring

Real-world video deblurring in real time still remains a challenging task due to the complexity of spatially and temporally varying blur itself and the requirement of low computational cost. To improve the network efficiency, we adopt residual dense blocks into RNN cells, so as to efficiently extract the spatial features of the current frame. Furthermore, a global spatio-temporal attention module is proposed to fuse the effective hierarchical features from past and future frames to help better deblur the current frame. Another issue that needs to be addressed urgently is the lack of a real-world benchmark dataset. Thus, we contribute a novel dataset (BSD) to the community, by collecting paired blurry/sharp video clips using a co-axis beam splitter acquisition system. Experimental results show that the proposed method (ESTRNN) can achieve better deblurring performance both quantitatively and qualitatively with less computational cost against state-of-the-art video deblurring methods. In addition, cross-validation experiments between datasets illustrate the high generality of BSD over the synthetic datasets. The code and dataset are released at https://github.com/zzh-tech/ESTRNN.
MissFormer: (In-)attention-based handling of missing observations for trajectory filtering and prediction
Authors: Stefan Becker, Ronny Hug, Wolfgang Hübner, Michael Arens, Brendan T. Morris
Date: 2021-06-30 00:00:00
Tasks: Object, Object Tracking, Time Series, Time Series Analysis

In applications such as object tracking, time-series data inevitably carry missing observations. Following the success of deep learning-based models for various sequence learning tasks, these models increasingly replace classic approaches in object tracking applications for inferring the objects' motion states. While traditional tracking approaches can deal with missing observations, most of their deep counterparts are, by default, not suited for this. Towards this end, this paper introduces a transformer-based approach for handling missing observations in variable input length trajectory data. The model is formed indirectly by successively increasing the complexity of the demanded inference tasks. Starting from reproducing noise-free trajectories, the model then learns to infer trajectories from noisy inputs. By providing missing tokens, binary-encoded missing events, the model learns to in-attend to missing data and infers a complete trajectory conditioned on the remaining inputs. In the case of a sequence of successive missing events, the model then acts as a pure prediction model. The abilities of the approach are demonstrated on synthetic data and real-world data reflecting prototypical object tracking scenarios.
Improving the Efficiency of Transformers for Resource-Constrained Devices
Authors: Hamid Tabani, Ajay Balasubramaniam, Shabbir Marzban, Elahe Arani, Bahram Zonooz
Date: 2021-06-30 00:00:00

Transformers provide promising accuracy and have become popular and used in various domains such as natural language processing and computer vision. However, due to their massive number of model parameters, memory and computation requirements, they are not suitable for resource-constrained low-power devices. Even with high-performance and specialized devices, the memory bandwidth can become a performance-limiting bottleneck. In this paper, we present a performance analysis of state-of-the-art vision transformers on several devices. We propose to reduce the overall memory footprint and memory transfers by clustering the model parameters. We show that by using only 64 clusters to represent model parameters, it is possible to reduce the data transfer from the main memory by more than 4x, achieve up to 22% speedup and 39% energy savings on mobile devices with less than 0.1% accuracy loss.
Single-Step Adversarial Training for Semantic Segmentation
Authors: Daniel Wiens, Barbara Hammer
Date: 2021-06-30 00:00:00
Tasks: Segmentation, Semantic Segmentation

Even though deep neural networks succeed on many different tasks including semantic segmentation, they lack on robustness against adversarial examples. To counteract this exploit, often adversarial training is used. However, it is known that adversarial training with weak adversarial attacks (e.g. using the Fast Gradient Method) does not improve the robustness against stronger attacks. Recent research shows that it is possible to increase the robustness of such single-step methods by choosing an appropriate step size during the training. Finding such a step size, without increasing the computational effort of single-step adversarial training, is still an open challenge. In this work we address the computationally particularly demanding task of semantic segmentation and propose a new step size control algorithm that increases the robustness of single-step adversarial training. The proposed algorithm does not increase the computational effort of single-step adversarial training considerably and also simplifies training, because it is free of meta-parameter. We show that the robustness of our approach can compete with multi-step adversarial training on two popular benchmarks for semantic segmentation.
Cyclist Trajectory Forecasts by Incorporation of Multi-View Video Information
Authors: Stefan Zernetsch, Oliver Trupp, Viktor Kress, Konrad Doll, Bernhard Sick
Date: 2021-06-30 00:00:00
Tasks: Optical Flow Estimation

This article presents a novel approach to incorporate visual cues from video-data from a wide-angle stereo camera system mounted at an urban intersection into the forecast of cyclist trajectories. We extract features from image and optical flow (OF) sequences using 3D convolutional neural networks (3D-ConvNet) and combine them with features extracted from the cyclist's past trajectory to forecast future cyclist positions. By the use of additional information, we are able to improve positional accuracy by about 7.5 % for our test dataset and by up to 22 % for specific motion types compared to a method solely based on past trajectories. Furthermore, we compare the use of image sequences to the use of OF sequences as additional information, showing that OF alone leads to significant improvements in positional accuracy. By training and testing our methods using a real-world dataset recorded at a heavily frequented public intersection and evaluating the methods' runtimes, we demonstrate the applicability in real traffic scenarios. Our code and parts of our dataset are made publicly available.
Word-level Sign Language Recognition with Multi-stream Neural Networks Focusing on Local Regions and Skeletal Information
Authors: Mizuki Maruyama, Shrey Singh, Katsufumi Inoue, Partha Pratim Roy, Masakazu Iwamura, Michifumi Yoshioka
Date: 2021-06-30 00:00:00
Tasks: Action Recognition, Sign Language Recognition

Word-level sign language recognition (WSLR) has attracted attention because it is expected to overcome the communication barrier between people with speech impairment and those who can hear. In the WSLR problem, a method designed for action recognition has achieved the state-of-the-art accuracy. Indeed, it sounds reasonable for an action recognition method to perform well on WSLR because sign language is regarded as an action. However, a careful evaluation of the tasks reveals that the tasks of action recognition and WSLR are inherently different. Hence, in this paper, we propose a novel WSLR method that takes into account information specifically useful for the WSLR problem. We realize it as a multi-stream neural network (MSNN), which consist of three streams: 1) base stream, 2) local image stream, and 3) skeleton stream. Each stream is designed to handle different types of information. The base stream deals with quick and detailed movements of the hands and body, the local image stream focuses on handshapes and facial expressions, and the skeleton stream captures the relative positions of the body and both hands. This approach allows us to combine various types of data for more comprehensive gesture analysis. Experimental results on the WLASL and MS-ASL datasets show the effectiveness of the proposed method; it achieved an improvement of approximately 10\%--15\% in Top-1 accuracy when compared with conventional methods.
SOLO: A Simple Framework for Instance Segmentation
Authors: Xinlong Wang, Rufeng Zhang, Chunhua Shen, Tao Kong, Lei LI
Date: 2021-06-30 00:00:00
Tasks: Image Matting, Instance Segmentation, object-detection, Object Detection, Panoptic Segmentation, Segmentation, Semantic Segmentation

Compared to many other dense prediction tasks, e.g., semantic segmentation, it is the arbitrary number of instances that has made instance segmentation much more challenging. In order to predict a mask for each instance, mainstream approaches either follow the 'detect-then-segment' strategy (e.g., Mask R-CNN), or predict embedding vectors first then cluster pixels into individual instances. In this paper, we view the task of instance segmentation from a completely new perspective by introducing the notion of "instance categories", which assigns categories to each pixel within an instance according to the instance's location. With this notion, we propose segmenting objects by locations (SOLO), a simple, direct, and fast framework for instance segmentation with strong performance. We derive a few SOLO variants (e.g., Vanilla SOLO, Decoupled SOLO, Dynamic SOLO) following the basic principle. Our method directly maps a raw input image to the desired object categories and instance masks, eliminating the need for the grouping post-processing or the bounding box detection. Our approach achieves state-of-the-art results for instance segmentation in terms of both speed and accuracy, while being considerably simpler than the existing methods. Besides instance segmentation, our method yields state-of-the-art results in object detection (from our mask byproduct) and panoptic segmentation. We further demonstrate the flexibility and high-quality segmentation of SOLO by extending it to perform one-stage instance-level image matting. Code is available at: https://git.io/AdelaiDet
A survey on computational spectral reconstruction methods from RGB to hyperspectral imaging
Authors: Jingang Zhang, Runmu Su, Wenqi Ren, Qiang Fu, Felix Heide, Yunfeng Nie
Date: 2021-06-30 00:00:00
Tasks: Spectral Reconstruction

Hyperspectral imaging enables versatile applications due to its competence in capturing abundant spatial and spectral information, which are crucial for identifying substances. However, the devices for acquiring hyperspectral images are expensive and complicated. Therefore, many alternative spectral imaging methods have been proposed by directly reconstructing the hyperspectral information from lower-cost, more available RGB images. We present a thorough investigation of these state-of-the-art spectral reconstruction methods from the widespread RGB images. A systematic study and comparison of more than 25 methods has revealed that most of the data-driven deep learning methods are superior to prior-based methods in terms of reconstruction accuracy and quality despite lower speeds. This comprehensive review can serve as a fruitful reference source for peer researchers, thus further inspiring future development directions in related domains.
Augmented Shortcuts for Vision Transformers
Authors: Yehui Tang, Kai Han, Chang Xu, An Xiao, Yiping Deng, Chao Xu, Yunhe Wang
Date: 2021-06-30 00:00:00
Proceeding: NeurIPS 2021 12
Tasks: Diversity

Transformer models have achieved great progress on computer vision tasks recently. The rapid development of vision transformers is mainly contributed by their high representation ability for extracting informative features from input images. However, the mainstream transformer models are designed with deep architectures, and the feature diversity will be continuously reduced as the depth increases, i.e., feature collapse. In this paper, we theoretically analyze the feature collapse phenomenon and study the relationship between shortcuts and feature diversity in these transformer models. Then, we present an augmented shortcut scheme, which inserts additional paths with learnable parameters in parallel on the original shortcuts. To save the computational costs, we further explore an efficient approach that uses the block-circulant projection to implement augmented shortcuts. Extensive experiments conducted on benchmark datasets demonstrate the effectiveness of the proposed method, which brings about 1% accuracy increase of the state-of-the-art visual transformers without obviously increasing their parameters and FLOPs.