In this paper, we investigate Open-Vocabulary 3D Instance Segmentation (OV-3DIS) with free-form language instructions. Earlier works that rely on only annotated base categories for training suffer from limited generalization to unseen novel categories. Recent works mitigate poor generalizability to novel categories by generating class-agnostic masks or projecting generalized masks from 2D to 3D, but disregard semantic or geometry information, leading to sub-optimal performance. Instead, generating generalizable but semantic-related masks directly from 3D point clouds would result in superior outcomes. In this paper, we introduce Segment any 3D Object with LanguagE (SOLE), which is a semantic and geometric-aware visual-language learning framework with strong generalizability by generating semantic-related masks directly from 3D point clouds. Specifically, we propose a multimodal fusion network to incorporate multimodal semantics in both backbone and decoder. In addition, to align the 3D segmentation model with various language instructions and enhance the mask quality, we introduce three types of multimodal associations as supervision. Our SOLE outperforms previous methods by a large margin on ScanNetv2, ScanNet200, and Replica benchmarks, and the results are even close to the fully-supervised counterpart despite the absence of class annotations in the training. Furthermore, extensive qualitative results demonstrate the versatility of our SOLE to language instructions.
Autonomous driving has garnered significant attention as a key research area within artificial intelligence. In the context of autonomous driving scenarios, the varying physical locations of objects correspond to different levels of danger. However, conventional evaluation criteria for automatic driving object detection often overlook the crucial aspect of an object's physical location, leading to evaluation results that may not accurately reflect the genuine threat posed by the object to the autonomous driving vehicle. To enhance the safety of autonomous driving, this paper introduces a novel evaluation criterion based on physical location information, termed PLoc. This criterion transcends the limitations of traditional criteria by acknowledging that the physical location of pedestrians in autonomous driving scenarios can provide valuable safety-related information. Furthermore, this paper presents a newly re-annotated dataset (ApolloScape-R) derived from ApolloScape. ApolloScape-R involves the relabeling of pedestrians based on the significance of their physical location. The dataset is utilized to assess the performance of various object detection models under the proposed PLoc criterion. Experimental results demonstrate that the average accuracy of all object detection models in identifying a person situated in the travel lane of an autonomous vehicle is lower than that for a person on a sidewalk. The dataset is publicly available at https://github.com/lnyrlyed/ApolloScape-R.git
Multiple object tracking (MOT), a key task in image recognition, presents a persistent challenge in balancing processing speed and tracking accuracy. This study introduces a novel approach that leverages quantum annealing (QA) to expedite computation speed, while enhancing tracking accuracy through the ensembling of object tracking processes. A method to improve the matching integration process is also proposed. By utilizing the sequential nature of MOT, this study further augments the tracking method via reverse annealing (RA). Experimental validation confirms the maintenance of high accuracy with an annealing time of a mere 3 $\mu$s per tracking process. The proposed method holds significant potential for real-time MOT applications, including traffic flow measurement for urban traffic light control, collision prediction for autonomous robots and vehicles, and management of products mass-produced in factories.
Human hands possess the dexterity to interact with diverse objects such as grasping specific parts of the objects and/or approaching them from desired directions. More importantly, humans can grasp objects of any shape without object-specific skills. Recent works synthesize grasping motions following single objectives such as a desired approach heading direction or a grasping area. Moreover, they usually rely on expensive 3D hand-object data during training and inference, which limits their capability to synthesize grasping motions for unseen objects at scale. In this paper, we unify the generation of hand-object grasping motions across multiple motion objectives, diverse object shapes and dexterous hand morphologies in a policy learning framework GraspXL. The objectives are composed of the graspable area, heading direction during approach, wrist rotation, and hand position. Without requiring any 3D hand-object interaction data, our policy trained with 58 objects can robustly synthesize diverse grasping motions for more than 500k unseen objects with a success rate of 82.2%. At the same time, the policy adheres to objectives, which enables the generation of diverse grasps per object. Moreover, we show that our framework can be deployed to different dexterous hands and work with reconstructed or generated objects. We quantitatively and qualitatively evaluate our method to show the efficacy of our approach. Our model, code, and the large-scale generated motions are available at https://eth-ait.github.io/graspxl/.
We present OAKINK2, a dataset of bimanual object manipulation tasks for complex daily activities. In pursuit of constructing the complex tasks into a structured representation, OAKINK2 introduces three level of abstraction to organize the manipulation tasks: Affordance, Primitive Task, and Complex Task. OAKINK2 features on an object-centric perspective for decoding the complex tasks, treating them as a sequence of object affordance fulfillment. The first level, Affordance, outlines the functionalities that objects in the scene can afford, the second level, Primitive Task, describes the minimal interaction units that humans interact with the object to achieve its affordance, and the third level, Complex Task, illustrates how Primitive Tasks are composed and interdependent. OAKINK2 dataset provides multi-view image streams and precise pose annotations for the human body, hands and various interacting objects. This extensive collection supports applications such as interaction reconstruction and motion synthesis. Based on the 3-level abstraction of OAKINK2, we explore a task-oriented framework for Complex Task Completion (CTC). CTC aims to generate a sequence of bimanual manipulation to achieve task objectives. Within the CTC framework, we employ Large Language Models (LLMs) to decompose the complex task objectives into sequences of Primitive Tasks and have developed a Motion Fulfillment Model that generates bimanual hand motion for each Primitive Task. OAKINK2 datasets and models are available at https://oakink.net/v2.
Referring Video Object Segmentation (R-VOS) methods face challenges in maintaining consistent object segmentation due to temporal context variability and the presence of other visually similar objects. We propose an end-to-end R-VOS paradigm that explicitly models temporal instance consistency alongside the referring segmentation. Specifically, we introduce a novel hybrid memory that facilitates inter-frame collaboration for robust spatio-temporal matching and propagation. Features of frames with automatically generated high-quality reference masks are propagated to segment the remaining frames based on multi-granularity association to achieve temporally consistent R-VOS. Furthermore, we propose a new Mask Consistency Score (MCS) metric to evaluate the temporal consistency of video segmentation. Extensive experiments demonstrate that our approach enhances temporal consistency by a significant margin, leading to top-ranked performance on popular R-VOS benchmarks, i.e., Ref-YouTube-VOS (67.1%) and Ref-DAVIS17 (65.6%). The code is available at https://github.com/bo-miao/HTR.
Scene reconstruction from multi-view images is a fundamental problem in computer vision and graphics. Recent neural implicit surface reconstruction methods have achieved high-quality results; however, editing and manipulating the 3D geometry of reconstructed scenes remains challenging due to the absence of naturally decomposed object entities and complex object/background compositions. In this paper, we present Total-Decom, a novel method for decomposed 3D reconstruction with minimal human interaction. Our approach seamlessly integrates the Segment Anything Model (SAM) with hybrid implicit-explicit neural surface representations and a mesh-based region-growing technique for accurate 3D object decomposition. Total-Decom requires minimal human annotations while providing users with real-time control over the granularity and quality of decomposition. We extensively evaluate our method on benchmark datasets and demonstrate its potential for downstream applications, such as animation and scene editing. The code is available at https://github.com/CVMI-Lab/Total-Decom.git.
This Research through Design paper explores how object detection may be applied to a large digital art museum collection to facilitate new ways of encountering and experiencing art. We present the design and evaluation of an interactive application called SMKExplore, which allows users to explore a museum's digital collection of paintings by browsing through objects detected in the images, as a novel form of open-ended exploration. We provide three contributions. First, we show how an object detection pipeline can be integrated into a design process for visual exploration. Second, we present the design and development of an app that enables exploration of an art museum's collection. Third, we offer reflections on future possibilities for museums and HCI researchers to incorporate object detection techniques into the digitalization of museums.
We present RiEMann, an end-to-end near Real-time SE(3)-Equivariant Robot Manipulation imitation learning framework from scene point cloud input. Compared to previous methods that rely on descriptor field matching, RiEMann directly predicts the target poses of objects for manipulation without any object segmentation. RiEMann learns a manipulation task from scratch with 5 to 10 demonstrations, generalizes to unseen SE(3) transformations and instances of target objects, resists visual interference of distracting objects, and follows the near real-time pose change of the target object. The scalable action space of RiEMann facilitates the addition of custom equivariant actions such as the direction of turning the faucet, which makes articulated object manipulation possible for RiEMann. In simulation and real-world 6-DOF robot manipulation experiments, we test RiEMann on 5 categories of manipulation tasks with a total of 25 variants and show that RiEMann outperforms baselines in both task success rates and SE(3) geodesic distance errors on predicted poses (reduced by 68.6%), and achieves a 5.4 frames per second (FPS) network inference speed. Code and video results are available at https://riemann-web.github.io/.
In this paper we present EgoLifter, a novel system that can automatically segment scenes captured from egocentric sensors into a complete decomposition of individual 3D objects. The system is specifically designed for egocentric data where scenes contain hundreds of objects captured from natural (non-scanning) motion. EgoLifter adopts 3D Gaussians as the underlying representation of 3D scenes and objects and uses segmentation masks from the Segment Anything Model (SAM) as weak supervision to learn flexible and promptable definitions of object instances free of any specific object taxonomy. To handle the challenge of dynamic objects in ego-centric videos, we design a transient prediction module that learns to filter out dynamic objects in the 3D reconstruction. The result is a fully automatic pipeline that is able to reconstruct 3D object instances as collections of 3D Gaussians that collectively compose the entire scene. We created a new benchmark on the Aria Digital Twin dataset that quantitatively demonstrates its state-of-the-art performance in open-world 3D segmentation from natural egocentric input. We run EgoLifter on various egocentric activity datasets which shows the promise of the method for 3D egocentric perception at scale.
The increase in non-biodegradable waste is a worldwide concern. Recycling facilities play a crucial role, but their automation is hindered by the complex characteristics of waste recycling lines like clutter or object deformation. In addition, the lack of publicly available labeled data for these environments makes developing robust perception systems challenging. Our work explores the benefits of multimodal perception for object segmentation in real waste management scenarios. First, we present SpectralWaste, the first dataset collected from an operational plastic waste sorting facility that provides synchronized hyperspectral and conventional RGB images. This dataset contains labels for several categories of objects that commonly appear in sorting plants and need to be detected and separated from the main trash flow for several reasons, such as security in the management line or reuse. Additionally, we propose a pipeline employing different object segmentation architectures and evaluate the alternatives on our dataset, conducting an extensive analysis for both multimodal and unimodal alternatives. Our evaluation pays special attention to efficiency and suitability for real-time processing and demonstrates how HSI can bring a boost to RGB-only perception in these realistic industrial settings without much computational overhead.
This study introduces a novel approach to online embedding of multi-scale CLIP (Contrastive Language-Image Pre-Training) features into 3D maps. By harnessing CLIP, this methodology surpasses the constraints of conventional vocabulary-limited methods and enables the incorporation of semantic information into the resultant maps. While recent approaches have explored the embedding of multi-modal features in maps, they often impose significant computational costs, lacking practicality for exploring unfamiliar environments in real time. Our approach tackles these challenges by efficiently computing and embedding multi-scale CLIP features, thereby facilitating the exploration of unfamiliar environments through real-time map generation. Moreover, the embedding CLIP features into the resultant maps makes offline retrieval via linguistic queries feasible. In essence, our approach simultaneously achieves real-time object search and mapping of unfamiliar environments. Additionally, we propose a zero-shot object-goal navigation system based on our mapping approach, and we validate its efficacy through object-goal navigation, offline object retrieval, and multi-object-goal navigation in both simulated environments and real robot experiments. The findings demonstrate that our method not only exhibits swifter performance than state-of-the-art mapping methods but also surpasses them in terms of the success rate of object-goal navigation tasks.
Out-of-distribution (OoD) detection techniques for deep neural networks (DNNs) become crucial thanks to their filtering of abnormal inputs, especially when DNNs are used in safety-critical applications and interact with an open and dynamic environment. Nevertheless, integrating OoD detection into state-of-the-art (SOTA) object detection DNNs poses significant challenges, partly due to the complexity introduced by the SOTA OoD construction methods, which require the modification of DNN architecture and the introduction of complex loss functions. This paper proposes a simple, yet surprisingly effective, method that requires neither retraining nor architectural change in object detection DNN, called Box Abstraction-based Monitors (BAM). The novelty of BAM stems from using a finite union of convex box abstractions to capture the learned features of objects for in-distribution (ID) data, and an important observation that features from OoD data are more likely to fall outside of these boxes. The union of convex regions within the feature space allows the formation of non-convex and interpretable decision boundaries, overcoming the limitations of VOS-like detectors without sacrificing real-time performance. Experiments integrating BAM into Faster R-CNN-based object detection DNNs demonstrate a considerably improved performance against SOTA OoD detection techniques.
The diverse and high-quality content generated by recent generative models demonstrates the great potential of using synthetic data to train downstream models. However, in vision, especially in objection detection, related areas are not fully explored, the synthetic images are merely used to balance the long tails of existing datasets, and the accuracy of the generated labels is low, the full potential of generative models has not been exploited. In this paper, we propose DODA, a data synthesizer that can generate high-quality object detection data for new domains in agriculture. Specifically, we improve the controllability of layout-to-image through encoding layout as an image, thereby improving the quality of labels, and use a visual encoder to provide visual clues for the diffusion model to decouple visual features from the diffusion model, and empowering the model the ability to generate data in new domains. On the Global Wheat Head Detection (GWHD) Dataset, which is the largest dataset in agriculture and contains diverse domains, using the data synthesized by DODA improves the performance of the object detector by 12.74-17.76 AP$_{50}$ in the domain that was significantly shifted from the training data.
Event-based object detection has recently garnered attention in the computer vision community due to the exceptional properties of event cameras, such as high dynamic range and no motion blur. However, feature asynchronism and sparsity cause invisible objects due to no relative motion to the camera, posing a significant challenge in the task. Prior works have studied various implicit-learned memories to retain as many temporal cues as possible. However, implicit memories still struggle to preserve long-term features effectively. In this paper, we consider those invisible objects as pseudo-occluded objects and aim to detect them by tracking through occlusions. Firstly, we introduce the visibility attribute of objects and contribute an auto-labeling algorithm to not only clean the existing event camera dataset but also append additional visibility labels to it. Secondly, we exploit tracking strategies for pseudo-occluded objects to maintain their permanence and retain their bounding boxes, even when features have not been available for a very long time. These strategies can be treated as an explicit-learned memory guided by the tracking objective to record the displacements of objects across frames. Lastly, we propose a spatio-temporal feature aggregation module to enrich the latent features and a consistency loss to increase the robustness of the overall pipeline. We conduct comprehensive experiments to verify our method's effectiveness where still objects are retained, but real occluded objects are discarded. The results demonstrate that (1) the additional visibility labels can assist in supervised training, and (2) our method outperforms state-of-the-art approaches with a significant improvement of 7.9% absolute mAP.
Our work addresses limitations seen in previous approaches for object-centric editing problems, such as unrealistic results due to shape discrepancies and limited control in object replacement or insertion. To this end, we introduce FlexEdit, a flexible and controllable editing framework for objects where we iteratively adjust latents at each denoising step using our FlexEdit block. Initially, we optimize latents at test time to align with specified object constraints. Then, our framework employs an adaptive mask, automatically extracted during denoising, to protect the background while seamlessly blending new content into the target image. We demonstrate the versatility of FlexEdit in various object editing tasks and curate an evaluation test suite with samples from both real and synthetic images, along with novel evaluation metrics designed for object-centric editing. We conduct extensive experiments on different editing scenarios, demonstrating the superiority of our editing framework over recent advanced text-guided image editing methods. Our project page is published at https://flex-edit.github.io/.
The Common Objects in Context (COCO) dataset has been instrumental in benchmarking object detectors over the past decade. Like every dataset, COCO contains subtle errors and imperfections stemming from its annotation procedure. With the advent of high-performing models, we ask whether these errors of COCO are hindering its utility in reliably benchmarking further progress. In search for an answer, we inspect thousands of masks from COCO (2017 version) and uncover different types of errors such as imprecise mask boundaries, non-exhaustively annotated instances, and mislabeled masks. Due to the prevalence of COCO, we choose to correct these errors to maintain continuity with prior research. We develop COCO-ReM (Refined Masks), a cleaner set of annotations with visibly better mask quality than COCO-2017. We evaluate fifty object detectors and find that models that predict visually sharper masks score higher on COCO-ReM, affirming that they were being incorrectly penalized due to errors in COCO-2017. Moreover, our models trained using COCO-ReM converge faster and score higher than their larger variants trained using COCO-2017, highlighting the importance of data quality in improving object detectors. With these findings, we advocate using COCO-ReM for future object detection research. Our dataset is available at https://cocorem.xyz
Diffusion models have revolutionized image editing but often generate images that violate physical laws, particularly the effects of objects on the scene, e.g., occlusions, shadows, and reflections. By analyzing the limitations of self-supervised approaches, we propose a practical solution centered on a \q{counterfactual} dataset. Our method involves capturing a scene before and after removing a single object, while minimizing other changes. By fine-tuning a diffusion model on this dataset, we are able to not only remove objects but also their effects on the scene. However, we find that applying this approach for photorealistic object insertion requires an impractically large dataset. To tackle this challenge, we propose bootstrap supervision; leveraging our object removal model trained on a small counterfactual dataset, we synthetically expand this dataset considerably. Our approach significantly outperforms prior methods in photorealistic object removal and insertion, particularly at modeling the effects of objects on the scene.
State-of-the-art language models (LMs) sometimes generate non-factual hallucinations that misalign with world knowledge. To explore the mechanistic causes of these hallucinations, we create diagnostic datasets with subject-relation queries and adapt interpretability methods to trace hallucinations through internal model representations. We discover two general and distinct mechanistic causes of hallucinations shared across LMs (Llama-2, Pythia, GPT-J): 1) knowledge enrichment hallucinations: insufficient subject attribute knowledge in lower layer MLPs, and 2) answer extraction hallucinations: failure to select the correct object attribute in upper layer attention heads. We also found these two internal mechanistic causes of hallucinations are reflected in external manifestations. Based on insights from our mechanistic analysis, we propose a novel hallucination mitigation method through targeted restoration of the LM's internal fact recall pipeline, demonstrating superior performance compared to baselines.
The speed-precision trade-off is a critical problem for visual object tracking which usually requires low latency and deployment on constrained resources. Existing solutions for efficient tracking mainly focus on adopting light-weight backbones or modules, which nevertheless come at the cost of a sacrifice in precision. In this paper, inspired by dynamic network routing, we propose DyTrack, a dynamic transformer framework for efficient tracking. Real-world tracking scenarios exhibit diverse levels of complexity. We argue that a simple network is sufficient for easy frames in video sequences, while more computation could be assigned to difficult ones. DyTrack automatically learns to configure proper reasoning routes for various inputs, gaining better utilization of the available computational budget. Thus, it can achieve higher performance with the same running speed. We formulate instance-specific tracking as a sequential decision problem and attach terminating branches to intermediate layers of the entire model. Especially, to fully utilize the computations, we introduce the feature recycling mechanism to reuse the outputs of predecessors. Furthermore, a target-aware self-distillation strategy is designed to enhance the discriminating capabilities of early predictions by effectively mimicking the representation pattern of the deep model. Extensive experiments on multiple benchmarks demonstrate that DyTrack achieves promising speed-precision trade-offs with only a single model. For instance, DyTrack obtains 64.9% AUC on LaSOT with a speed of 256 fps.