pwc-archive/papers-with-abstracts huggingface dataset:
Zero-shot Object-Centric Instruction Following: Integrating Foundation Models with Traditional Navigation
Authors: Sonia Raychaudhuri, Duy Ta, Katrina Ashton, Angel X. Chang, Jiuguang Wang, Bernadette Bucher
Date: 2024-11-12 00:00:00
Tasks: Instruction Following, Object, Vision-Language Navigation

Large scale scenes such as multifloor homes can be robustly and efficiently mapped with a 3D graph of landmarks estimated jointly with robot poses in a factor graph, a technique commonly used in commercial robots such as drones and robot vacuums. In this work, we propose Language-Inferred Factor Graph for Instruction Following (LIFGIF), a zero-shot method to ground natural language instructions in such a map. LIFGIF also includes a policy for following natural language navigation instructions in a novel environment while the map is constructed, enabling robust navigation performance in the physical world. To evaluate LIFGIF, we present a new dataset, Object-Centric VLN (OC-VLN), in order to evaluate grounding of object-centric natural language navigation instructions. We compare to two state-of-the-art zero-shot baselines from related tasks, Object Goal Navigation and Vision Language Navigation, to demonstrate that LIFGIF outperforms them across all our evaluation metrics on OCVLN. Finally, we successfully demonstrate the effectiveness of LIFGIF for performing zero-shot object-centric instruction following in the real world on a Boston Dynamics Spot robot.
Towards Vision Mixture of Experts for Wildlife Monitoring on the Edge
Authors: Emmanuel Azuh Mensah, Anderson Lee, Haoran Zhang, Yitong Shan, Kurtis Heimerl
Date: 2024-11-12 00:00:00
Tasks: Mixture-of-Experts

The explosion of IoT sensors in industrial, consumer and remote sensing use cases has come with unprecedented demand for computing infrastructure to transmit and to analyze petabytes of data. Concurrently, the world is slowly shifting its focus towards more sustainable computing. For these reasons, there has been a recent effort to reduce the footprint of related computing infrastructure, especially by deep learning algorithms, for advanced insight generation. The `TinyML' community is actively proposing methods to save communication bandwidth and excessive cloud storage costs while reducing algorithm inference latency and promoting data privacy. Such proposed approaches should ideally process multiple types of data, including time series, audio, satellite images, and video, near the network edge as multiple data streams has been shown to improve the discriminative ability of learning algorithms, especially for generating fine grained results. Incidentally, there has been recent work on data driven conditional computation of subnetworks that has shown real progress in using a single model to share parameters among very different types of inputs such as images and text, reducing the computation requirement of multi-tower multimodal networks. Inspired by such line of work, we explore similar per patch conditional computation for the first time for mobile vision transformers (vision only case), that will eventually be used for single-tower multimodal edge models. We evaluate the model on Cornell Sap Sucker Woods 60, a fine grained bird species discrimination dataset. Our initial experiments uses $4X$ fewer parameters compared to MobileViTV2-1.0 with a $1$% accuracy drop on the iNaturalist '21 birds test data provided as part of the SSW60 dataset.
Large-scale Remote Sensing Image Target Recognition and Automatic Annotation
Authors: Wuzheng Dong
Date: 2024-11-12 00:00:00
Tasks: Ensemble Learning, Object, object-detection, Object Detection, Object Recognition

This paper presents a method for object recognition and automatic labeling in large-area remote sensing images called LRSAA. The method integrates YOLOv11 and MobileNetV3-SSD object detection algorithms through ensemble learning to enhance model performance. Furthermore, it employs Poisson disk sampling segmentation techniques and the EIOU metric to optimize the training and inference processes of segmented images, followed by the integration of results. This approach not only reduces the demand for computational resources but also achieves a good balance between accuracy and speed. The source code for this project has been made publicly available on https://github.com/anaerovane/LRSAA.
Horticultural Temporal Fruit Monitoring via 3D Instance Segmentation and Re-Identification using Point Clouds
Authors: Daniel Fusaro, Federico Magistri, Jens Behley, Alberto Pretto, Cyrill Stachniss
Date: 2024-11-12 00:00:00
Tasks: 3D Instance Segmentation, Instance Segmentation, Semantic Segmentation

Robotic fruit monitoring is a key step toward automated agricultural production systems. Robots can significantly enhance plant and temporal fruit monitoring by providing precise, high-throughput assessments that overcome the limitations of traditional manual methods. Fruit monitoring is a challenging task due to the significant variation in size, shape, orientation, and occlusion of fruits. Also, fruits may be harvested or newly grown between recording sessions. Most methods are 2D image-based and they lack the 3D structure, depth, and spatial information, which represent key aspects of fruit monitoring. 3D colored point clouds, instead, can offer this information but they introduce challenges such as their sparsity and irregularity. In this paper, we present a novel approach for temporal fruit monitoring that addresses point clouds collected in a greenhouse over time. Our method segments fruits using a learning-based instance segmentation approach directly on the point cloud. Each segmented fruit is processed by a 3D sparse convolutional neural network to extract descriptors, which are used in an attention-based matching network to associate fruits with their instances from previous data collections. Experimental results on a real dataset of strawberries demonstrate that our approach outperforms other methods for fruits re-identification over time, allowing for precise temporal fruit monitoring in real and complex scenarios.
Interaction Asymmetry: A General Principle for Learning Composable Abstractions
Authors: Jack Brady, Julius von Kügelgen, Sébastien Lachapelle, Simon Buchholz, Thomas Kipf, Wieland Brendel
Date: 2024-11-12 00:00:00
Tasks: Disentanglement

Learning disentangled representations of concepts and re-composing them in unseen ways is crucial for generalizing to out-of-domain situations. However, the underlying properties of concepts that enable such disentanglement and compositional generalization remain poorly understood. In this work, we propose the principle of interaction asymmetry which states: "Parts of the same concept have more complex interactions than parts of different concepts". We formalize this via block diagonality conditions on the $(n+1)$th order derivatives of the generator mapping concepts to observed data, where different orders of "complexity" correspond to different $n$. Using this formalism, we prove that interaction asymmetry enables both disentanglement and compositional generalization. Our results unify recent theoretical results for learning concepts of objects, which we show are recovered as special cases with $n\!=\!0$ or $1$. We provide results for up to $n\!=\!2$, thus extending these prior works to more flexible generator functions, and conjecture that the same proof strategies generalize to larger $n$. Practically, our theory suggests that, to disentangle concepts, an autoencoder should penalize its latent capacity and the interactions between concepts during decoding. We propose an implementation of these criteria using a flexible Transformer-based VAE, with a novel regularizer on the attention weights of the decoder. On synthetic image datasets consisting of objects, we provide evidence that this model can achieve comparable object disentanglement to existing models that use more explicit object-centric priors.
Novel View Synthesis with Pixel-Space Diffusion Models
Authors: Noam Elata, Bahjat Kawar, Yaron Ostrovsky-Berman, Miriam Farber, Ron Sokolovsky
Date: 2024-11-12 00:00:00
Proceeding: CVPR 2025 1
Tasks: Novel View Synthesis

Synthesizing a novel view from a single input image is a challenging task. Traditionally, this task was approached by estimating scene depth, warping, and inpainting, with machine learning models enabling parts of the pipeline. More recently, generative models are being increasingly employed in novel view synthesis (NVS), often encompassing the entire end-to-end system. In this work, we adapt a modern diffusion model architecture for end-to-end NVS in the pixel space, substantially outperforming previous state-of-the-art (SOTA) techniques. We explore different ways to encode geometric information into the network. Our experiments show that while these methods may enhance performance, their impact is minor compared to utilizing improved generative models. Moreover, we introduce a novel NVS training scheme that utilizes single-view datasets, capitalizing on their relative abundance compared to their multi-view counterparts. This leads to improved generalization capabilities to scenes with out-of-domain content.
AdaSemiCD: An Adaptive Semi-Supervised Change Detection Method Based on Pseudo-Label Evaluation
Authors: Ran Lingyan, Wen Dongcheng, Zhuo Tao, Zhang Shizhou, Zhang Xiuwei, Zhang Yanning
Date: 2024-11-12 00:00:00
Tasks: Change Detection, Pseudo Label, Semi-supervised Change Detection

Change Detection (CD) is an essential field in remote sensing, with a primary focus on identifying areas of change in bi-temporal image pairs captured at varying intervals of the same region by a satellite. The data annotation process for the CD task is both time-consuming and labor-intensive. To make better use of the scarce labeled data and abundant unlabeled data, we present an adaptive dynamic semi-supervised learning method, AdaSemiCD, to improve the use of pseudo-labels and optimize the training process. Initially, due to the extreme class imbalance inherent in CD, the model is more inclined to focus on the background class, and it is easy to confuse the boundary of the target object. Considering these two points, we develop a measurable evaluation metric for pseudo-labels that enhances the representation of information entropy by class rebalancing and amplification of confusing areas to give a larger weight to prospects change objects. Subsequently, to enhance the reliability of sample-wise pseudo-labels, we introduce the AdaFusion module, which is capable of dynamically identifying the most uncertain region and substituting it with more trustworthy content. Lastly, to ensure better training stability, we introduce the AdaEMA module, which updates the teacher model using only batches of trusted samples. Experimental results from LEVIR-CD, WHU-CD, and CDD datasets validate the efficacy and universality of our proposed adaptive training framework.
LapGSR: Laplacian Reconstructive Network for Guided Thermal Super-Resolution
Authors: Aditya Kasliwal, Ishaan Gakhar, Aryan Kamani, Pratinav Seth, Ujjwal Verma
Date: 2024-11-12 00:00:00
Tasks: Autonomous Navigation, Gesture Recognition, Super-Resolution

In the last few years, the fusion of multi-modal data has been widely studied for various applications such as robotics, gesture recognition, and autonomous navigation. Indeed, high-quality visual sensors are expensive, and consumer-grade sensors produce low-resolution images. Researchers have developed methods to combine RGB color images with non-visual data, such as thermal, to overcome this limitation to improve resolution. Fusing multiple modalities to produce visually appealing, high-resolution images often requires dense models with millions of parameters and a heavy computational load, which is commonly attributed to the intricate architecture of the model. We propose LapGSR, a multimodal, lightweight, generative model incorporating Laplacian image pyramids for guided thermal super-resolution. This approach uses a Laplacian Pyramid on RGB color images to extract vital edge information, which is then used to bypass heavy feature map computation in the higher layers of the model in tandem with a combined pixel and adversarial loss. LapGSR preserves the spatial and structural details of the image while also being efficient and compact. This results in a model with significantly fewer parameters than other SOTA models while demonstrating excellent results on two cross-domain datasets viz. ULB17-VT and VGTSR datasets.
Constraint Learning for Parametric Point Cloud
Authors: Xi Cheng, Ruiqi Lei, Di Huang, Zhichao Liao, Fengyuan Piao, Yan Chen, Pingfa Feng, Long Zeng
Date: 2024-11-12 00:00:00
Tasks: Attribute

Parametric point clouds are sampled from CAD shapes, and have become increasingly prevalent in industrial manufacturing. However, most existing point cloud learning methods focus on the geometric features, such as developing efficient convolution operations, overlooking the important attribute of constraints inherent in CAD shapes, which limits these methods' ability to comprehend CAD shapes fully. To address this issue, we analyzed the effect of constraints, and proposed its deep learning-friendly representation, after that, the Constraint Feature Learning Network (CstNet) was developed to extract and leverage constraints. Our CstNet includes two stages. Stage 1 extracts constraints from B-Rep data or point cloud. Stage 2 leverages coordinates and constraints to enhance the comprehension of CAD shapes. Additionally, we built up the Parametric 20,000 Multi-modal Dataset for the scarcity of labeled B-Rep datasets. Experiments demonstrate that our CstNet achieved state-of-the-art performance on both public and proposed CAD shape datasets. To the best of our knowledge, CstNet is the first constraint-based learning method tailored for CAD shape analysis.
Efficient 3D Perception on Multi-Sweep Point Cloud with Gumbel Spatial Pruning
Authors: Tianyu Sun, Jianhao Li, Xueqian Zhang, Zhongdao Wang, Bailan Feng, Hengshuang Zhao
Date: 2024-11-12 00:00:00
Tasks: 3D Object Detection, object-detection, Object Detection

This paper studies point cloud perception within outdoor environments. Existing methods face limitations in recognizing objects located at a distance or occluded, due to the sparse nature of outdoor point clouds. In this work, we observe a significant mitigation of this problem by accumulating multiple temporally consecutive point cloud sweeps, resulting in a remarkable improvement in perception accuracy. However, the computation cost also increases, hindering previous approaches from utilizing a large number of point cloud sweeps. To tackle this challenge, we find that a considerable portion of points in the accumulated point cloud is redundant, and discarding these points has minimal impact on perception accuracy. We introduce a simple yet effective Gumbel Spatial Pruning (GSP) layer that dynamically prunes points based on a learned end-to-end sampling. The GSP layer is decoupled from other network components and thus can be seamlessly integrated into existing point cloud network architectures. Without incurring additional computational overhead, we increase the number of point cloud sweeps from 10, a common practice, to as many as 40. Consequently, there is a significant enhancement in perception performance. For instance, in nuScenes 3D object detection and BEV map segmentation tasks, our pruning strategy improves several 3D perception baseline methods.
3D Focusing-and-Matching Network for Multi-Instance Point Cloud Registration
Authors: Liyuan Zhang, Le Hui, Qi Liu, Bo Li, Yuchao Dai
Date: 2024-11-12 00:00:00
Tasks: Object, Point Cloud Registration

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain the pose of each instance. However, due to the cluttered and occluded objects in the scene, it is difficult to obtain an accurate correspondence between the model point cloud and all instances in the scene. To this end, we propose a simple yet powerful 3D focusing-and-matching network for multi-instance point cloud registration by learning the multiple pair-wise point cloud registration. Specifically, we first present a 3D multi-object focusing module to locate the center of each object and generate object proposals. By using self-attention and cross-attention to associate the model point cloud with structurally similar objects, we can locate potential matching instances by regressing object centers. Then, we propose a 3D dual masking instance matching module to estimate the pose between the model point cloud and each object proposal. It performs instance mask and overlap mask masks to accurately predict the pair-wise correspondence. Extensive experiments on two public benchmarks, Scan2CAD and ROBI, show that our method achieves a new state-of-the-art performance on the multi-instance point cloud registration task. Code is available at https://github.com/zlynpu/3DFMNet.
ALOcc: Adaptive Lifting-based 3D Semantic Occupancy and Cost Volume-based Flow Prediction
Authors: Dubing Chen, Jin Fang, Wencheng Han, Xinjing Cheng, Junbo Yin, Chenzhong Xu, Fahad Shahbaz Khan, Jianbing Shen
Date: 2024-11-12 00:00:00
Tasks: 3D Semantic Occupancy Prediction, Autonomous Driving, Denoising, Prediction

Vision-based semantic occupancy and flow prediction plays a crucial role in providing spatiotemporal cues for real-world tasks, such as autonomous driving. Existing methods prioritize higher accuracy to cater to the demands of these tasks. In this work, we strive to improve performance by introducing a series of targeted improvements for 3D semantic occupancy prediction and flow estimation. First, we introduce an occlusion-aware adaptive lifting mechanism with a depth denoising technique to improve the robustness of 2D-to-3D feature transformation and reduce the reliance on depth priors. Second, we strengthen the semantic consistency between 3D features and their original 2D modalities by utilizing shared semantic prototypes to jointly constrain both 2D and 3D features. This is complemented by confidence- and category-based sampling strategies to tackle long-tail challenges in 3D space. To alleviate the feature encoding burden in the joint prediction of semantics and flow, we propose a BEV cost volume-based prediction method that links flow and semantic features through a cost volume and employs a classification-regression supervision scheme to address the varying flow scales in dynamic scenes. Our purely convolutional architecture framework, named ALOcc, achieves an optimal tradeoff between speed and accuracy achieving state-of-the-art results on multiple benchmarks. On Occ3D and training without the camera visible mask, our ALOcc achieves an absolute gain of 2.5\% in terms of RayIoU while operating at a comparable speed compared to the state-of-the-art, using the same input size (256$\times$704) and ResNet-50 backbone. Our method also achieves 2nd place in the CVPR24 Occupancy and Flow Prediction Competition.
EMPERROR: A Flexible Generative Perception Error Model for Probing Self-Driving Planners
Authors: Niklas Hanselmann, Simon Doll, Marius Cordts, Hendrik P. A. Lensch, Andreas Geiger
Date: 2024-11-12 00:00:00
Tasks: Imitation Learning

To handle the complexities of real-world traffic, learning planners for self-driving from data is a promising direction. While recent approaches have shown great progress, they typically assume a setting in which the ground-truth world state is available as input. However, when deployed, planning needs to be robust to the long-tail of errors incurred by a noisy perception system, which is often neglected in evaluation. To address this, previous work has proposed drawing adversarial samples from a perception error model (PEM) mimicking the noise characteristics of a target object detector. However, these methods use simple PEMs that fail to accurately capture all failure modes of detection. In this paper, we present EMPERROR, a novel transformer-based generative PEM, apply it to stress-test an imitation learning (IL)-based planner and show that it imitates modern detectors more faithfully than previous work. Furthermore, it is able to produce realistic noisy inputs that increase the planner's collision rate by up to 85%, demonstrating its utility as a valuable tool for a more complete evaluation of self-driving planners.
Emotion Classification of Children Expressions
Authors: Sanchayan Vivekananthan
Date: 2024-11-12 00:00:00
Tasks: Classification, Data Augmentation, Emotion Classification, Emotion Recognition, Image Generation

This paper proposes a process for a classification model for the facial expressions. The proposed process would aid in specific categorisation of children's emotions from 2 emotions namely 'Happy' and 'Sad'. Since the existing emotion recognition systems algorithms primarily train on adult faces, the model developed is achieved by using advanced concepts of models with Squeeze-andExcitation blocks, Convolutional Block Attention modules, and robust data augmentation. Stable Diffusion image synthesis was used for expanding and diversifying the data set generating realistic and various training samples. The model designed using Batch Normalisation, Dropout, and SE Attention mechanisms for the classification of children's emotions achieved an accuracy rate of 89\% due to these methods improving the precision of emotion recognition in children. The relative importance of this issue is raised in this study with an emphasis on the call for a more specific model in emotion detection systems for the young generation with specific direction on how the young people can be assisted to manage emotions while online.
Exploring Advanced Large Language Models with LLMsuite
Authors: Giorgio Roffo
Date: 2024-07-01 00:00:00
Tasks: RAG, Retrieval, Retrieval-augmented Generation

This tutorial explores the advancements and challenges in the development of Large Language Models (LLMs) such as ChatGPT and Gemini. It addresses inherent limitations like temporal knowledge cutoffs, mathematical inaccuracies, and the generation of incorrect information, proposing solutions like Retrieval Augmented Generation (RAG), Program-Aided Language Models (PAL), and frameworks such as ReAct and LangChain. The integration of these techniques enhances LLM performance and reliability, especially in multi-step reasoning and complex task execution. The paper also covers fine-tuning strategies, including instruction fine-tuning, parameter-efficient methods like LoRA, and Reinforcement Learning from Human Feedback (RLHF) as well as Reinforced Self-Training (ReST). Additionally, it provides a comprehensive survey of transformer architectures and training techniques for LLMs. The source code can be accessed by contacting the author via email for a request.