The past few years has witnessed the dominance of Graph Convolutional Networks (GCNs) over human motion prediction.Various styles of graph convolutions have been proposed, with each one meticulously designed and incorporated into a carefully-crafted network architecture. This paper breaks the limits of existing knowledge by proposing Universal Graph Convolution (UniGC), a novel graph convolution concept that re-conceptualizes different graph convolutions as its special cases. Leveraging UniGC on network-level, we propose GCNext, a novel GCN-building paradigm that dynamically determines the best-fitting graph convolutions both sample-wise and layer-wise. GCNext offers multiple use cases, including training a new GCN from scratch or refining a preexisting GCN. Experiments on Human3.6M, AMASS, and 3DPW datasets show that, by incorporating unique module-to-network designs, GCNext yields up to 9x lower computational cost than existing GCN methods, on top of achieving state-of-the-art performance.
We introduce a novel method for real-time animation control and generation on rigged models using natural language input. First, we embed a large language model (LLM) in Unity to output structured texts that can be parsed into diverse and realistic animations. Second, we illustrate LLM's potential to enable flexible state transition between existing animations. We showcase the robustness of our approach through qualitative results on various rigged models and motions.
Just as computational simulations of atoms, molecules and cells have shaped the way we study the sciences, true-to-life simulations of human-like agents can be valuable tools for studying human behavior. We propose Humanoid Agents, a system that guides Generative Agents to behave more like humans by introducing three elements of System 1 processing: Basic needs (e.g. hunger, health and energy), Emotion and Closeness in Relationships. Humanoid Agents are able to use these dynamic elements to adapt their daily activities and conversations with other agents, as supported with empirical experiments. Our system is designed to be extensible to various settings, three of which we demonstrate, as well as to other elements influencing human behavior (e.g. empathy, moral values and cultural background). Our platform also includes a Unity WebGL game interface for visualization and an interactive analytics dashboard to show agent statuses over time. Our platform is available on https://www.humanoidagents.com/ and code is on https://github.com/HumanoidAgents/HumanoidAgents
The National Basketball Association (NBA) imposes a player salary cap. It is therefore useful to develop tools to measure the relative realized return of a player's salary given their on court performance. Very few such studies exist, however. We thus present the first known framework to estimate a return on investment (ROI) for NBA player contracts. The framework operates in five parts: (1) decide on a measurement time horizon, such as the standard 82-game NBA regular season; (2) calculate the novel game contribution percentage (GCP) measure we propose, which is a single game summary statistic that sums to unity for each competing team and is comprised of traditional, playtype, hustle, box outs, defensive, tracking, and rebounding per game NBA statistics; (3) estimate the single game value (SGV) of each regular season NBA game using a standard currency conversion calculation; (4) multiply the SGV by the vector of realized GCPs to obtain a series of realized per-player single season cash flows; and (5) use the player salary as an initial investment to perform the traditional ROI calculation. We illustrate our framework by compiling a novel, sharable dataset of per game GCP statistics and salaries for the 2022-2023 NBA regular season. A scatter plot of ROI by salary for all players is presented, including the top and bottom 50 performers. Notably, missed games are treated as defaults because GCP is a per game metric. This allows for break-even calculations between high-performing players with frequent missed games and average performers with few missed games, which we demonstrate with a comparison of the 2023 NBA regular seasons of Anthony Davis and Brook Lopez. We conclude by suggesting uses of our framework, discussing its flexibility through customization, and outlining potential future improvements.
The proliferation of misinformation has emerged as a new form of warfare in the information age. This type of warfare involves cyberwarriors, who deliberately propagate messages aimed at defaming opponents or fostering unity among allies. In this study, we investigate the level of activity exhibited by cyberwarriors within a large online forum, and remarkably, we discover that only a minute fraction of cyberwarriors are active users. Surprisingly, despite their expected role of actively disseminating misinformation, cyberwarriors remain predominantly silent during peacetime and only spring into action when necessary. Moreover, we analyze the challenges associated with identifying cyberwarriors and provide evidence that detecting inactive cyberwarriors is considerably more challenging than identifying their active counterparts. Finally, we discuss potential methodologies to more effectively identify cyberwarriors during their inactive phases, offering insights into better capturing their presence and actions. The experimental code is released for reproducibility: \url{https://github.com/Ryaninthegame/Detect-Inactive-Spammers-on-PTT}.
The dialogue experience with conversational agents can be greatly enhanced with multimodal and immersive interactions in virtual reality. In this work, we present an open-source architecture with the goal of simplifying the development of conversational agents operating in virtual environments. The architecture offers the possibility of plugging in conversational agents of different domains and adding custom or cloud-based Speech-To-Text and Text-To-Speech models to make the interaction voice-based. Using this architecture, we present two conversational prototypes operating in the digital health domain developed in Unity for both non-immersive displays and VR headsets.
Recognition of occluded objects in unseen and unstructured indoor environments is a challenging problem for mobile robots. To address this challenge, we propose a new descriptor, TOPS, for point clouds generated from depth images and an accompanying recognition framework, THOR, inspired by human reasoning. The descriptor employs a novel slicing-based approach to compute topological features from filtrations of simplicial complexes using persistent homology, and facilitates reasoning-based recognition using object unity. Apart from a benchmark dataset, we report performance on a new dataset, the UW Indoor Scenes (UW-IS) Occluded dataset, curated using commodity hardware to reflect real-world scenarios with different environmental conditions and degrees of object occlusion. THOR outperforms state-of-the-art methods on both the datasets and achieves substantially higher recognition accuracy for all the scenarios of the UW-IS Occluded dataset. Therefore, THOR, is a promising step toward robust recognition in low-cost robots, meant for everyday use in indoor settings.
The work covers the development and explainability of machine learning models for predicting political leanings through parliamentary transcriptions. We concentrate on the Slovenian parliament and the heated debate on the European migrant crisis, with transcriptions from 2014 to 2020. We develop both classical machine learning and transformer language models to predict the left- or right-leaning of parliamentarians based on their given speeches on the topic of migrants. With both types of models showing great predictive success, we continue with explaining their decisions. Using explainability techniques, we identify keywords and phrases that have the strongest influence in predicting political leanings on the topic, with left-leaning parliamentarians using concepts such as people and unity and speak about refugees, and right-leaning parliamentarians using concepts such as nationality and focus more on illegal migrants. This research is an example that understanding the reasoning behind predictions can not just be beneficial for AI engineers to improve their models, but it can also be helpful as a tool in the qualitative analysis steps in interdisciplinary research.
Automatic underground parking has attracted considerable attention as the scope of autonomous driving expands. The auto-vehicle is supposed to obtain the environmental information, track its location, and build a reliable map of the scenario. Mainstream solutions consist of well-trained neural networks and simultaneous localization and mapping (SLAM) methods, which need numerous carefully labeled images and multiple sensor estimations. However, there is a lack of underground parking scenario datasets with multiple sensors and well-labeled images that support both SLAM tasks and perception tasks, such as semantic segmentation and parking slot detection. In this paper, we present SUPS, a simulated dataset for underground automatic parking, which supports multiple tasks with multiple sensors and multiple semantic labels aligned with successive images according to timestamps. We intend to cover the defect of existing datasets with the variability of environments and the diversity and accessibility of sensors in the virtual scene. Specifically, the dataset records frames from four surrounding fisheye cameras, two forward pinhole cameras, a depth camera, and data from LiDAR, inertial measurement unit (IMU), GNSS. Pixel-level semantic labels are provided for objects, especially ground signs such as arrows, parking lines, lanes, and speed bumps. Perception, 3D reconstruction, depth estimation, and SLAM, and other relative tasks are supported by our dataset. We also evaluate the state-of-the-art SLAM algorithms and perception models on our dataset. Finally, we open source our virtual 3D scene built based on Unity Engine and release our dataset at https://github.com/jarvishou829/SUPS.
We utilize neural operators to learn the solution propagator for the challenging chemical kinetics equation. Specifically, we apply the deep operator network (DeepONet) along with its extensions, such as the autoencoder-based DeepONet and the newly proposed Partition-of-Unity (PoU-) DeepONet to study a range of examples, including the ROBERS problem with three species, the POLLU problem with 25 species, pure kinetics of the syngas skeletal model for $CO/H_2$ burning, which contains 11 species and 21 reactions and finally, a temporally developing planar $CO/H_2$ jet flame (turbulent flame) using the same syngas mechanism. We have demonstrated the advantages of the proposed approach through these numerical examples. Specifically, to train the DeepONet for the syngas model, we solve the skeletal kinetic model for different initial conditions. In the first case, we parametrize the initial conditions based on equivalence ratios and initial temperature values. In the second case, we perform a direct numerical simulation of a two-dimensional temporally developing $CO/H_2$ jet flame. Then, we initialize the kinetic model by the thermochemical states visited by a subset of grid points at different time snapshots. Stiff problems are computationally expensive to solve with traditional stiff solvers. Thus, this work aims to develop a neural operator-based surrogate model to solve stiff chemical kinetics. The operator, once trained offline, can accurately integrate the thermochemical state for arbitrarily large time advancements, leading to significant computational gains compared to stiff integration schemes.
Various machine learning approaches have proven to be useful for user verification and identification based on motion data in eXtended Reality (XR). However, their real-world application still faces significant challenges concerning versatility, i.e., in terms of extensibility and generalization capability. This article presents a solution that is both extensible to new users without expensive retraining, and that generalizes well across different sessions, devices, and user tasks. To this end, we developed a similarity-learning model and pretrained it on the "Who Is Alyx?" dataset. This dataset features a wide array of tasks and hence motions from users playing the VR game "Half-Life: Alyx". In contrast to previous works, we used a dedicated set of users for model validation and final evaluation. Furthermore, we extended this evaluation using an independent dataset that features completely different users, tasks, and three different XR devices. In comparison with a traditional classification-learning baseline, our model shows superior performance, especially in scenarios with limited enrollment data. The pretraining process allows immediate deployment in a diverse range of XR applications while maintaining high versatility. Looking ahead, our approach paves the way for easy integration of pretrained motion-based identification models in production XR systems.
We apply a new method for learning equations from data -- Exhaustive Symbolic Regression (ESR) -- to late-type galaxy dynamics as encapsulated in the radial acceleration relation (RAR). Relating the centripetal acceleration due to baryons, $g_\text{bar}$, to the total dynamical acceleration, $g_\text{obs}$, the RAR has been claimed to manifest a new law of nature due to its regularity and tightness, in agreement with Modified Newtonian Dynamics (MOND). Fits to this relation have been restricted by prior expectations to particular functional forms, while ESR affords an exhaustive and nearly prior-free search through functional parameter space to identify the equations optimally trading accuracy with simplicity. Working with the SPARC data, we find the best functions typically satisfy $g_\text{obs} \propto g_\text{bar}$ at high $g_\text{bar}$, although the coefficient of proportionality is not clearly unity and the deep-MOND limit $g_\text{obs} \propto \sqrt{g_\text{bar}}$ as $g_\text{bar} \to 0$ is little evident at all. By generating mock data according to MOND with or without the external field effect, we find that symbolic regression would not be expected to identify the generating function or reconstruct successfully the asymptotic slopes. We conclude that the limited dynamical range and significant uncertainties of the SPARC RAR preclude a definitive statement of its functional form, and hence that this data alone can neither demonstrate nor rule out law-like gravitational behaviour.
In inverse reinforcement learning (IRL), a learning agent infers a reward function encoding the underlying task using demonstrations from experts. However, many existing IRL techniques make the often unrealistic assumption that the agent has access to full information about the environment. We remove this assumption by developing an algorithm for IRL in partially observable Markov decision processes (POMDPs). We address two limitations of existing IRL techniques. First, they require an excessive amount of data due to the information asymmetry between the expert and the learner. Second, most of these IRL techniques require solving the computationally intractable forward problem -- computing an optimal policy given a reward function -- in POMDPs. The developed algorithm reduces the information asymmetry while increasing the data efficiency by incorporating task specifications expressed in temporal logic into IRL. Such specifications may be interpreted as side information available to the learner a priori in addition to the demonstrations. Further, the algorithm avoids a common source of algorithmic complexity by building on causal entropy as the measure of the likelihood of the demonstrations as opposed to entropy. Nevertheless, the resulting problem is nonconvex due to the so-called forward problem. We solve the intrinsic nonconvexity of the forward problem in a scalable manner through a sequential linear programming scheme that guarantees to converge to a locally optimal policy. In a series of examples, including experiments in a high-fidelity Unity simulator, we demonstrate that even with a limited amount of data and POMDPs with tens of thousands of states, our algorithm learns reward functions and policies that satisfy the task while inducing similar behavior to the expert by leveraging the provided side information.
This paper focuses on developing modern, efficient, lightweight models for dense predictions while trading off parameters, FLOPs, and performance. Inverted Residual Block (IRB) serves as the infrastructure for lightweight CNNs, but no counterpart has been recognized by attention-based studies. This work rethinks lightweight infrastructure from efficient IRB and effective components of Transformer from a unified perspective, extending CNN-based IRB to attention-based models and abstracting a one-residual Meta Mobile Block (MMB) for lightweight model design. Following simple but effective design criterion, we deduce a modern Inverted Residual Mobile Block (iRMB) and build a ResNet-like Efficient MOdel (EMO) with only iRMB for down-stream tasks. Extensive experiments on ImageNet-1K, COCO2017, and ADE20K benchmarks demonstrate the superiority of our EMO over state-of-the-art methods, e.g., EMO-1M/2M/5M achieve 71.5, 75.1, and 78.4 Top-1 that surpass equal-order CNN-/Attention-based models, while trading-off the parameter, efficiency, and accuracy well: running 2.8-4.0x faster than EdgeNeXt on iPhone14.
Direct speech-to-speech translation (S2ST), in which all components can be optimized jointly, is advantageous over cascaded approaches to achieve fast inference with a simplified pipeline. We present a novel two-pass direct S2ST architecture, UnitY, which first generates textual representations and predicts discrete acoustic units subsequently. We enhance the model performance by subword prediction in the first-pass decoder, advanced two-pass decoder architecture design and search strategy, and better training regularization. To leverage large amounts of unlabeled text data, we pre-train the first-pass text decoder based on the self-supervised denoising auto-encoding task. Experimental evaluations on benchmark datasets at various data scales demonstrate that UnitY outperforms a single-pass speech-to-unit translation model by 2.5-4.2 ASR-BLEU with 2.83x decoding speed-up. We show that the proposed methods boost the performance even when predicting spectrogram in the second pass. However, predicting discrete units achieves 2.51x decoding speed-up compared to that case.
To train deep learning models, which often outperform traditional approaches, large datasets of a specified medium, e.g., images, are used in numerous areas. However, for light field-specific machine learning tasks, there is a lack of such available datasets. Therefore, we create our own light field datasets, which have great potential for a variety of applications due to the abundance of information in light fields compared to singular images. Using the Unity and C# frameworks, we develop a novel approach for generating large, scalable, and reproducible light field datasets based on customizable hardware configurations to accelerate light field deep learning research.
This technical report details VEX Robotics team BLRSAI's development of a fully autonomous robot for VEX Robotics' Tipping Point AI Competition. We identify and develop three separate critical components. This includes a Unity simulation and reinforcement learning model training pipeline, a malleable computer vision pipeline, and a data transfer pipeline to offload large computations from the VEX V5 Brain/micro-controller to an external computer. We give the community access to all of these components in hopes they can reuse and improve upon them in the future, and that it'll spark new ideas for autonomy as well as the necessary infrastructure and programs for AI in educational robotics.
The use of computer vision for product and assembly quality control is becoming ubiquitous in the manufacturing industry. Lately, it is apparent that machine learning based solutions are outperforming classical computer vision algorithms in terms of performance and robustness. However, a main drawback is that they require sufficiently large and labeled training datasets, which are often not available or too tedious and too time consuming to acquire. This is especially true for low-volume and high-variance manufacturing. Fortunately, in this industry, CAD models of the manufactured or assembled products are available. This paper introduces CAD2Render, a GPU-accelerated synthetic data generator based on the Unity High Definition Render Pipeline (HDRP). CAD2Render is designed to add variations in a modular fashion, making it possible for high customizable data generation, tailored to the needs of the industrial use case at hand. Although CAD2Render is specifically designed for manufacturing use cases, it can be used for other domains as well. We validate CAD2Render by demonstrating state of the art performance in two industrial relevant setups. We demonstrate that the data generated by our approach can be used to train object detection and pose estimation models with a high enough accuracy to direct a robot. The code for CAD2Render is available at https://github.com/EDM-Research/CAD2Render.
Hand, the bearer of human productivity and intelligence, is receiving much attention due to the recent fever of digital twins. Among different hand morphable models, MANO has been widely used in vision and graphics community. However, MANO disregards textures and accessories, which largely limits its power to synthesize photorealistic hand data. In this paper, we extend MANO with Diverse Accessories and Rich Textures, namely DART. DART is composed of 50 daily 3D accessories which varies in appearance and shape, and 325 hand-crafted 2D texture maps covers different kinds of blemishes or make-ups. Unity GUI is also provided to generate synthetic hand data with user-defined settings, e.g., pose, camera, background, lighting, textures, and accessories. Finally, we release DARTset, which contains large-scale (800K), high-fidelity synthetic hand images, paired with perfect-aligned 3D labels. Experiments demonstrate its superiority in diversity. As a complement to existing hand datasets, DARTset boosts the generalization in both hand pose estimation and mesh recovery tasks. Raw ingredients (textures, accessories), Unity GUI, source code and DARTset are publicly available at dart2022.github.io
Cutscenes form an integral part of many video games, but their creation is costly, time-consuming, and requires skills that many game developers lack. While AI has been leveraged to semi-automate cutscene production, the results typically lack the internal consistency and uniformity in style that is characteristic of professional human directors. We overcome this shortcoming with Cine-AI, an open-source procedural cinematography toolset capable of generating in-game cutscenes in the style of eminent human directors. Implemented in the popular game engine Unity, Cine-AI features a novel timeline and storyboard interface for design-time manipulation, combined with runtime cinematography automation. Via two user studies, each employing quantitative and qualitative measures, we demonstrate that Cine-AI generates cutscenes that people correctly associate with a target director, while providing above-average usability. Our director imitation dataset is publicly available, and can be extended by users and film enthusiasts.