Fabien Despinoy

Mohammad Mohammadi, Daniel Honerkamp, Martin Büchner et al.

Autonomous long-horizon mobile manipulation encompasses a multitude of challenges, including scene dynamics, unexplored areas, and error recovery. Recent works have leveraged foundation models for scene-level robotic reasoning and planning. However, the performance of these methods degrades when dealing with a large number of objects and large-scale environments. To address these limitations, we propose MORE, a novel approach for enhancing the capabilities of language models to solve zero-shot mobile manipulation planning for rearrangement tasks. MORE leverages scene graphs to represent environments, incorporates instance differentiation, and introduces an active filtering scheme that extracts task-relevant subgraphs of object and region instances. These steps yield a bounded planning problem, effectively mitigating hallucinations and improving reliability. Additionally, we introduce several enhancements that enable planning across both indoor and outdoor environments. We evaluate MORE on 81 diverse rearrangement tasks from the BEHAVIOR-1K benchmark, where it becomes the first approach to successfully solve a significant share of the benchmark, outperforming recent foundation model-based approaches. Furthermore, we demonstrate the capabilities of our approach in several complex real-world tasks, mimicking everyday activities. We make the code publicly available at https://more-model.cs.uni-freiburg.de.

Yang Miao, Jan-Nico Zaech, Xi Wang et al.

We propose LangHOPS, the first Multimodal Large Language Model (MLLM) based framework for open-vocabulary object-part instance segmentation. Given an image, LangHOPS can jointly detect and segment hierarchical object and part instances from open-vocabulary candidate categories. Unlike prior approaches that rely on heuristic or learnable visual grouping, our approach grounds object-part hierarchies in language space. It integrates the MLLM into the object-part parsing pipeline to leverage its rich knowledge and reasoning capabilities, and link multi-granularity concepts within the hierarchies. We evaluate LangHOPS across multiple challenging scenarios, including in-domain and cross-dataset object-part instance segmentation, and zero-shot semantic segmentation. LangHOPS achieves state-of-the-art results, surpassing previous methods by 5.5% Average Precision (AP) (in-domain) and 4.8% (cross-dataset) on the PartImageNet dataset and by 2.5% mIOU on unseen object parts in ADE20K (zero-shot). Ablation studies further validate the effectiveness of the language-grounded hierarchy and MLLM driven part query refinement strategy. The code will be released here.

Soroush Seifi, Daniel Olmeda Reino, Fabien Despinoy et al.

Semantic Segmentation is one of the most challenging vision tasks, usually requiring large amounts of training data with expensive pixel level annotations. With the success of foundation models and especially vision-language models, recent works attempt to achieve zeroshot semantic segmentation while requiring either large-scale training or additional image/pixel level annotations. In this work, we generate free annotations for any semantic segmentation dataset using existing foundation models. We use CLIP to detect objects and SAM to generate high quality object masks. Next, we build a lightweight module on top of a self-supervised vision encoder, DinoV2, to align the patch features with a pretrained text encoder for zeroshot semantic segmentation. Our approach can bring language-based semantics to any pretrained vision encoder with minimal training, uses foundation models as the sole source of supervision and generalizes from little training data with no annotation.

Yaser Souri, Yazan Abu Farha, Fabien Despinoy et al.

We introduce FIFA, a fast approximate inference method for action segmentation and alignment. Unlike previous approaches, FIFA does not rely on expensive dynamic programming for inference. Instead, it uses an approximate differentiable energy function that can be minimized using gradient-descent. FIFA is a general approach that can replace exact inference improving its speed by more than 5 times while maintaining its performance. FIFA is an anytime inference algorithm that provides a better speed vs. accuracy trade-off compared to exact inference. We apply FIFA on top of state-of-the-art approaches for weakly supervised action segmentation and alignment as well as fully supervised action segmentation. FIFA achieves state-of-the-art results on most metrics on two action segmentation datasets.

Arnaud Huaulmé, Duygu Sarikaya, Kévin Le Mut et al.

The "MIcro-Surgical Anastomose Workflow recognition on training sessions" (MISAW) challenge provided a data set of 27 sequences of micro-surgical anastomosis on artificial blood vessels. This data set was composed of videos, kinematics, and workflow annotations described at three different granularity levels: phase, step, and activity. The participants were given the option to use kinematic data and videos to develop workflow recognition models. Four tasks were proposed to the participants: three of them were related to the recognition of surgical workflow at three different granularity levels, while the last one addressed the recognition of all granularity levels in the same model. One ranking was made for each task. We used the average application-dependent balanced accuracy (AD-Accuracy) as the evaluation metric. This takes unbalanced classes into account and it is more clinically relevant than a frame-by-frame score. Six teams, including a non-competing team, participated in at least one task. All models employed deep learning models, such as CNN or RNN. The best models achieved more than 95% AD-Accuracy for phase recognition, 80% for step recognition, 60% for activity recognition, and 75% for all granularity levels. For high levels of granularity (i.e., phases and steps), the best models had a recognition rate that may be sufficient for applications such as prediction of remaining surgical time or resource management. However, for activities, the recognition rate was still low for applications that can be employed clinically. The MISAW data set is publicly available to encourage further research in surgical workflow recognition. It can be found at www.synapse.org/MISAW