pwc-archive/papers-with-abstracts huggingface dataset:
Breathless: An 8-hour Performance Contrasting Human and Robot Expressiveness
Authors: Catie Cuan, Tianshuang Qiu, Shreya Ganti, Ken Goldberg
Date: 2024-11-19 00:00:00
Tasks: Pose Tracking

This paper describes the robot technology behind an original performance that pairs a human dancer (Cuan) with an industrial robot arm for an eight-hour dance that unfolds over the timespan of an American workday. To control the robot arm, we combine a range of sinusoidal motions with varying amplitude, frequency and offset at each joint to evoke human motions common in physical labor such as stirring, digging, and stacking. More motions were developed using deep learning techniques for video-based human-pose tracking and extraction. We combine these pre-recorded motions with improvised robot motions created live by putting the robot into teach-mode and triggering force sensing from the robot joints onstage. All motions are combined with commercial and original music using a custom suite of python software with AppleScript, Keynote, and Zoom to facilitate on-stage communication with the dancer. The resulting performance contrasts the expressivity of the human body with the precision of robot machinery. Video, code and data are available on the project website: https://sites.google.com/playing.studio/breathless
DynFocus: Dynamic Cooperative Network Empowers LLMs with Video Understanding
Authors: Yudong Han, Qingpei Guo, Liyuan Pan, Liu Liu, Yu Guan, Ming Yang
Date: 2024-11-19 00:00:00
Proceeding: CVPR 2025 1
Tasks: Question Answering, Video Understanding

The challenge in LLM-based video understanding lies in preserving visual and semantic information in long videos while maintaining a memory-affordable token count. However, redundancy and correspondence in videos have hindered the performance potential of existing methods. Through statistical learning on current datasets, we observe that redundancy occurs in both repeated and answer-irrelevant frames, and the corresponding frames vary with different questions. This suggests the possibility of adopting dynamic encoding to balance detailed video information preservation with token budget reduction. To this end, we propose a dynamic cooperative network, DynFocus, for memory-efficient video encoding in this paper. Specifically, i) a Dynamic Event Prototype Estimation (DPE) module to dynamically select meaningful frames for question answering; (ii) a Compact Cooperative Encoding (CCE) module that encodes meaningful frames with detailed visual appearance and the remaining frames with sketchy perception separately. We evaluate our method on five publicly available benchmarks, and experimental results consistently demonstrate that our method achieves competitive performance.
Target Height Estimation Using a Single Acoustic Camera for Compensation in 2D Seabed Mosaicking
Authors: Xiaoteng Zhou, Yusheng Wang, Katsunori Mizuno
Date: 2024-11-19 00:00:00
Tasks: 3D Reconstruction

This letter proposes a novel approach for compensating target height data in 2D seabed mosaicking for low-visibility underwater perception. Acoustic cameras are effective sensors for sensing the marine environments due to their high-resolution imaging capabilities and robustness to darkness and turbidity. However, the loss of elevation angle during the imaging process results in a lack of target height information in the original acoustic camera images, leading to a simplistic 2D representation of the seabed mosaicking. In perceiving cluttered and unexplored marine environments, target height data is crucial for avoiding collisions with marine robots. This study proposes a novel approach for estimating seabed target height using a single acoustic camera and integrates height data into 2D seabed mosaicking to compensate for the missing 3D dimension of seabed targets. Unlike classic methods that model the loss of elevation angle to achieve seabed 3D reconstruction, this study focuses on utilizing available acoustic cast shadow clues and simple sensor motion to quickly estimate target height. The feasibility of our proposal is verified through a water tank experiment and a simulation experiment.
Accelerating UMAP for Large-Scale Datasets Through Spectral Coarsening
Authors: Yongyu Wang
Date: 2024-11-19 00:00:00

This paper introduces an innovative approach to dramatically accelerate UMAP using spectral data compression.The proposed method significantly reduces the size of the dataset, preserving its essential manifold structure through an advanced spectral compression technique. This allows UMAP to perform much faster while maintaining the quality of its embeddings. Experiments on real-world datasets, such as USPS, demonstrate the method's ability to achieve substantial data reduction without compromising embedding fidelity.
Enhancing Blind Source Separation with Dissociative Principal Component Analysis
Authors: Muhammad Usman Khalid
Date: 2024-11-19 00:00:00
Tasks: blind source separation, Image Inpainting, Image Reconstruction

Sparse principal component analysis (sPCA) enhances the interpretability of principal components (PCs) by imposing sparsity constraints on loading vectors (LVs). However, when used as a precursor to independent component analysis (ICA) for blind source separation (BSS), sPCA may underperform due to its focus on simplicity, potentially disregarding some statistical information essential for effective ICA. To overcome this limitation, a sophisticated approach is proposed that preserves the interpretability advantages of sPCA while significantly enhancing its source extraction capabilities. This consists of two tailored algorithms, dissociative PCA (DPCA1 and DPCA2), which employ adaptive and firm thresholding alongside gradient and coordinate descent approaches to optimize the proposed model dynamically. These algorithms integrate left and right singular vectors from singular value decomposition (SVD) through dissociation matrices (DMs) that replace traditional singular values, thus capturing latent interdependencies effectively to model complex source relationships. This leads to refined PCs and LVs that more accurately represent the underlying data structure. The proposed approach avoids focusing on individual eigenvectors, instead, it collaboratively combines multiple eigenvectors to disentangle interdependencies within each SVD variate. The superior performance of the proposed DPCA algorithms is demonstrated across four varied imaging applications including functional magnetic resonance imaging (fMRI) source retrieval, foreground-background separation, image reconstruction, and image inpainting. They outperformed traditional methods such as PCA+ICA, PPCA+ICA, SPCA+ICA, PMD, and GPower.
C$^{2}$INet: Realizing Incremental Trajectory Prediction with Prior-Aware Continual Causal Intervention
Authors: Xiaohe Li, Feilong Huang, Zide Fan, Fangli Mou, Leilei Lin, Yingyan Hou, Lijie Wen
Date: 2024-11-19 00:00:00
Tasks: Autonomous Driving, Continual Learning, Prediction, Trajectory Prediction, Variational Inference

Trajectory prediction for multi-agents in complex scenarios is crucial for applications like autonomous driving. However, existing methods often overlook environmental biases, which leads to poor generalization. Additionally, hardware constraints limit the use of large-scale data across environments, and continual learning settings exacerbate the challenge of catastrophic forgetting. To address these issues, we propose the Continual Causal Intervention (C$^{2}$INet) method for generalizable multi-agent trajectory prediction within a continual learning framework. Using variational inference, we align environment-related prior with posterior estimator of confounding factors in the latent space, thereby intervening in causal correlations that affect trajectory representation. Furthermore, we store optimal variational priors across various scenarios using a memory queue, ensuring continuous debiasing during incremental task training. The proposed C$^{2}$INet enhances adaptability to diverse tasks while preserving previous task information to prevent catastrophic forgetting. It also incorporates pruning strategies to mitigate overfitting. Comparative evaluations on three real and synthetic complex datasets against state-of-the-art methods demonstrate that our proposed method consistently achieves reliable prediction performance, effectively mitigating confounding factors unique to different scenarios. This highlights the practical value of our method for real-world applications.
DGTR: Distributed Gaussian Turbo-Reconstruction for Sparse-View Vast Scenes
Authors: Hao Li, Yuanyuan Gao, Haosong Peng, Chenming Wu, Weicai Ye, Yufeng Zhan, Chen Zhao, Dingwen Zhang, Jingdong Wang, Junwei Han
Date: 2024-11-19 00:00:00
Tasks: Novel View Synthesis

Novel-view synthesis (NVS) approaches play a critical role in vast scene reconstruction. However, these methods rely heavily on dense image inputs and prolonged training times, making them unsuitable where computational resources are limited. Additionally, few-shot methods often struggle with poor reconstruction quality in vast environments. This paper presents DGTR, a novel distributed framework for efficient Gaussian reconstruction for sparse-view vast scenes. Our approach divides the scene into regions, processed independently by drones with sparse image inputs. Using a feed-forward Gaussian model, we predict high-quality Gaussian primitives, followed by a global alignment algorithm to ensure geometric consistency. Synthetic views and depth priors are incorporated to further enhance training, while a distillation-based model aggregation mechanism enables efficient reconstruction. Our method achieves high-quality large-scale scene reconstruction and novel-view synthesis in significantly reduced training times, outperforming existing approaches in both speed and scalability. We demonstrate the effectiveness of our framework on vast aerial scenes, achieving high-quality results within minutes. Code will released on our [https://3d-aigc.github.io/DGTR].
Diffusion Product Quantization
Authors: Jie Shao, Hanxiao Zhang, Jianxin Wu
Date: 2024-11-19 00:00:00
Tasks: Quantization

In this work, we explore the quantization of diffusion models in extreme compression regimes to reduce model size while maintaining performance. We begin by investigating classical vector quantization but find that diffusion models are particularly susceptible to quantization error, with the codebook size limiting generation quality. To address this, we introduce product quantization, which offers improved reconstruction precision and larger capacity -- crucial for preserving the generative capabilities of diffusion models. Furthermore, we propose a method to compress the codebook by evaluating the importance of each vector and removing redundancy, ensuring the model size remaining within the desired range. We also introduce an end-to-end calibration approach that adjusts assignments during the forward pass and optimizes the codebook using the DDPM loss. By compressing the model to as low as 1 bit (resulting in over 24 times reduction in model size), we achieve a balance between compression and quality. We apply our compression method to the DiT model on ImageNet and consistently outperform other quantization approaches, demonstrating competitive generative performance.
Physics-Guided Detector for SAR Airplanes
Authors: Zhongling Huang, Long Liu, Shuxin Yang, Zhirui Wang, Gong Cheng, Junwei Han
Date: 2024-11-19 00:00:00
Tasks: Object Detection, Self-Supervised Learning

The disperse structure distributions (discreteness) and variant scattering characteristics (variability) of SAR airplane targets lead to special challenges of object detection and recognition. The current deep learning-based detectors encounter challenges in distinguishing fine-grained SAR airplanes against complex backgrounds. To address it, we propose a novel physics-guided detector (PGD) learning paradigm for SAR airplanes that comprehensively investigate their discreteness and variability to improve the detection performance. It is a general learning paradigm that can be extended to different existing deep learning-based detectors with "backbone-neck-head" architectures. The main contributions of PGD include the physics-guided self-supervised learning, feature enhancement, and instance perception, denoted as PGSSL, PGFE, and PGIP, respectively. PGSSL aims to construct a self-supervised learning task based on a wide range of SAR airplane targets that encodes the prior knowledge of various discrete structure distributions into the embedded space. Then, PGFE enhances the multi-scale feature representation of a detector, guided by the physics-aware information learned from PGSSL. PGIP is constructed at the detection head to learn the refined and dominant scattering point of each SAR airplane instance, thus alleviating the interference from the complex background. We propose two implementations, denoted as PGD and PGD-Lite, and apply them to various existing detectors with different backbones and detection heads. The experiments demonstrate the flexibility and effectiveness of the proposed PGD, which can improve existing detectors on SAR airplane detection with fine-grained classification task (an improvement of 3.1\% mAP most), and achieve the state-of-the-art performance (90.7\% mAP) on SAR-AIRcraft-1.0 dataset. The project is open-source at \url{https://github.com/XAI4SAR/PGD}.
Generative Timelines for Instructed Visual Assembly
Authors: Alejandro Pardo, Jui-Hsien Wang, Bernard Ghanem, Josef Sivic, Bryan Russell, Fabian Caba Heilbron
Date: 2024-11-19 00:00:00
Tasks: Language Modelling

The objective of this work is to manipulate visual timelines (e.g. a video) through natural language instructions, making complex timeline editing tasks accessible to non-expert or potentially even disabled users. We call this task Instructed visual assembly. This task is challenging as it requires (i) identifying relevant visual content in the input timeline as well as retrieving relevant visual content in a given input (video) collection, (ii) understanding the input natural language instruction, and (iii) performing the desired edits of the input visual timeline to produce an output timeline. To address these challenges, we propose the Timeline Assembler, a generative model trained to perform instructed visual assembly tasks. The contributions of this work are three-fold. First, we develop a large multimodal language model, which is designed to process visual content, compactly represent timelines and accurately interpret timeline editing instructions. Second, we introduce a novel method for automatically generating datasets for visual assembly tasks, enabling efficient training of our model without the need for human-labeled data. Third, we validate our approach by creating two novel datasets for image and video assembly, demonstrating that the Timeline Assembler substantially outperforms established baseline models, including the recent GPT-4o, in accurately executing complex assembly instructions across various real-world inspired scenarios.
GLOVER: Generalizable Open-Vocabulary Affordance Reasoning for Task-Oriented Grasping
Authors: Teli Ma, Zifan Wang, Jiaming Zhou, Mengmeng Wang, Junwei Liang
Date: 2024-11-19 00:00:00
Tasks: Common Sense Reasoning, Human-Object Interaction Detection, Pose Estimation, World Knowledge

Inferring affordable (i.e., graspable) parts of arbitrary objects based on human specifications is essential for robots advancing toward open-vocabulary manipulation. Current grasp planners, however, are hindered by limited vision-language comprehension and time-consuming 3D radiance modeling, restricting real-time, open-vocabulary interactions with objects. To address these limitations, we propose GLOVER, a unified Generalizable Open-Vocabulary Affordance Reasoning framework, which fine-tunes the Large Language Models (LLMs) to predict the visual affordance of graspable object parts within RGB feature space. We compile a dataset of over 10,000 images from human-object interactions, annotated with unified visual and linguistic affordance labels, to enable multi-modal fine-tuning. GLOVER inherits world knowledge and common-sense reasoning from LLMs, facilitating more fine-grained object understanding and sophisticated tool-use reasoning. To enable effective real-world deployment, we present Affordance-Aware Grasping Estimation (AGE), a non-parametric grasp planner that aligns the gripper pose with a superquadric surface derived from affordance data. In evaluations across 30 table-top real-world scenes, GLOVER achieves success rates of 86.0% in part identification and 76.3% in grasping, with speeds approximately 29 times faster in affordance reasoning and 40 times faster in grasping pose estimation than the previous state-of-the-art. We also validate the generalization across embodiments, showing effectiveness in humanoid robots with dexterous hands.
HouseLLM: LLM-Assisted Two-Phase Text-to-Floorplan Generation
Authors: Ziyang Zong, Zhaohuan Zhan, Guang Tan
Date: 2024-11-19 00:00:00
Tasks: Language Modeling, Language Modelling, Large Language Model, Layout Design

This paper proposes a two-phase text-to-floorplan generation method, which guides a Large Language Model (LLM) to generate an initial layout (Layout-LLM) and refines them into the final floorplans through conditional diffusion model. We incorporate a Chain-of-Thought approach to prompt the LLM based on user text specifications, enabling a more user-friendly and intuitive house layout design. This method allows users to describe their needs in natural language, enhancing accessibility and providing clearer geometric constraints. The final floorplans generated by Layout-LLM through conditional diffusion refinement are more accurate and better meet user requirements. Experimental results demonstrate that our approach achieves state-of-the-art performance across all metrics, validating its effectiveness in practical home design applications. We plan to release our code for public use.
Versatile Cataract Fundus Image Restoration Model Utilizing Unpaired Cataract and High-quality Images
Authors: Zheng Gong, Zhuo Deng, Weihao Gao, Wenda Zhou, Yuhang Yang, Hanqing Zhao, Zhiyuan Niu, Lei Shao, Wenbin Wei, Lan Ma
Date: 2024-11-19 00:00:00
Tasks: Image Restoration, SSIM

Cataract is one of the most common blinding eye diseases and can be treated by surgery. However, because cataract patients may also suffer from other blinding eye diseases, ophthalmologists must diagnose them before surgery. The cloudy lens of cataract patients forms a hazy degeneration in the fundus images, making it challenging to observe the patient's fundus vessels, which brings difficulties to the diagnosis process. To address this issue, this paper establishes a new cataract image restoration method named Catintell. It contains a cataract image synthesizing model, Catintell-Syn, and a restoration model, Catintell-Res. Catintell-Syn uses GAN architecture with fully unsupervised data to generate paired cataract-like images with realistic style and texture rather than the conventional Gaussian degradation algorithm. Meanwhile, Catintell-Res is an image restoration network that can improve the quality of real cataract fundus images using the knowledge learned from synthetic cataract images. Extensive experiments show that Catintell-Res outperforms other cataract image restoration methods in PSNR with 39.03 and SSIM with 0.9476. Furthermore, the universal restoration ability that Catintell-Res gained from unpaired cataract images can process cataract images from various datasets. We hope the models can help ophthalmologists identify other blinding eye diseases of cataract patients and inspire more medical image restoration methods in the future.
Acquire Precise and Comparable Fundus Image Quality Score: FTHNet and FQS Dataset
Authors: Zheng Gong, Zhuo Deng, Run Gan, Zhiyuan Niu, Lu Chen, Canfeng Huang, Jia Liang, Weihao Gao, Fang Li, Shaochong Zhang, Lan Ma
Date: 2024-11-19 00:00:00
Tasks: Image Quality Assessment

The retinal fundus images are utilized extensively in the diagnosis, and their quality can directly affect the diagnosis results. However, due to the insufficient dataset and algorithm application, current fundus image quality assessment (FIQA) methods are not powerful enough to meet ophthalmologists` demands. In this paper, we address the limitations of datasets and algorithms in FIQA. First, we establish a new FIQA dataset, Fundus Quality Score(FQS), which includes 2246 fundus images with two labels: a continuous Mean Opinion Score varying from 0 to 100 and a three-level quality label. Then, we propose a FIQA Transformer-based Hypernetwork (FTHNet) to solve these tasks with regression results rather than classification results in conventional FIQA works. The FTHNet is optimized for the FIQA tasks with extensive experiments. Results on our FQS dataset show that the FTHNet can give quality scores for fundus images with PLCC of 0.9423 and SRCC of 0.9488, significantly outperforming other methods with fewer parameters and less computation complexity.We successfully build a dataset and model addressing the problems of current FIQA methods. Furthermore, the model deployment experiments demonstrate its potential in automatic medical image quality control. All experiments are carried out with 10-fold cross-validation to ensure the significance of the results.
KDC-MAE: Knowledge Distilled Contrastive Mask Auto-Encoder
Authors: Maheswar Bora, Saurabh Atreya, Aritra Mukherjee, Abhijit Das
Date: 2024-11-19 00:00:00
Tasks: Contrastive Learning, Knowledge Distillation, Self-Supervised Learning

In this work, we attempted to extend the thought and showcase a way forward for the Self-supervised Learning (SSL) learning paradigm by combining contrastive learning, self-distillation (knowledge distillation) and masked data modelling, the three major SSL frameworks, to learn a joint and coordinated representation. The proposed technique of SSL learns by the collaborative power of different learning objectives of SSL. Hence to jointly learn the different SSL objectives we proposed a new SSL architecture KDC-MAE, a complementary masking strategy to learn the modular correspondence, and a weighted way to combine them coordinately. Experimental results conclude that the contrastive masking correspondence along with the KD learning objective has lent a hand to performing better learning for multiple modalities over multiple tasks.