Jae-Hyun Kang

Hanjung Kim, Jaehyun Kang, Miran Heo et al.

In recent years, online Video Instance Segmentation (VIS) methods have shown remarkable advancement with their powerful query-based detectors. Utilizing the output queries of the detector at the frame-level, these methods achieve high accuracy on challenging benchmarks. However, our observations demonstrate that these methods heavily rely on location information, which often causes incorrect associations between objects. This paper presents that a key axis of object matching in trackers is appearance information, which becomes greatly instructive under conditions where positional cues are insufficient for distinguishing their identities. Therefore, we suggest a simple yet powerful extension to object decoders that explicitly extract embeddings from backbone features and drive queries to capture the appearances of objects, which greatly enhances instance association accuracy. Furthermore, recognizing the limitations of existing benchmarks in fully evaluating appearance awareness, we have constructed a synthetic dataset to rigorously validate our method. By effectively resolving the over-reliance on location information, we achieve state-of-the-art results on YouTube-VIS 2019/2021 and Occluded VIS (OVIS). Code is available at https://github.com/KimHanjung/VISAGE.

Jinwoo Kim, Janghyuk Choi, Jaehyun Kang et al.

The binding problem in artificial neural networks is actively explored with the goal of achieving human-level recognition skills through the comprehension of the world in terms of symbol-like entities. Especially in the field of computer vision, object-centric learning (OCL) is extensively researched to better understand complex scenes by acquiring object representations or slots. While recent studies in OCL have made strides with complex images or videos, the interpretability and interactivity over object representation remain largely uncharted, still holding promise in the field of OCL. In this paper, we introduce a novel method, Slot Attention with Image Augmentation (SlotAug), to explore the possibility of learning interpretable controllability over slots in a self-supervised manner by utilizing an image augmentation strategy. We also devise the concept of sustainability in controllable slots by introducing iterative and reversible controls over slots with two proposed submethods: Auxiliary Identity Manipulation and Slot Consistency Loss. Extensive empirical studies and theoretical validation confirm the effectiveness of our approach, offering a novel capability for interpretable and sustainable control of object representations.

Hanjung Kim, Jaehyun Kang, Hyolim Kang et al.

Mimicry is a fundamental learning mechanism in humans, enabling individuals to learn new tasks by observing and imitating experts. However, applying this ability to robots presents significant challenges due to the inherent differences between human and robot embodiments in both their visual appearance and physical capabilities. While previous methods bridge this gap using cross-embodiment datasets with shared scenes and tasks, collecting such aligned data between humans and robots at scale is not trivial. In this paper, we propose UniSkill, a novel framework that learns embodiment-agnostic skill representations from large-scale cross-embodiment video data without any labels, enabling skills extracted from human video prompts to effectively transfer to robot policies trained only on robot data. Our experiments in both simulation and real-world environments show that our cross-embodiment skills successfully guide robots in selecting appropriate actions, even with unseen video prompts. The project website can be found at: https://kimhanjung.github.io/UniSkill.