Michelle Guo

Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo et al. · stanford

We present a differentiable pipeline for simulating the motion of objects that represent their geometry as a continuous density field parameterized as a deep network. This includes Neural Radiance Fields (NeRFs), and other related models. From the density field, we estimate the dynamical properties of the object, including its mass, center of mass, and inertia matrix. We then introduce a differentiable contact model based on the density field for computing normal and friction forces resulting from collisions. This allows a robot to autonomously build object models that are visually and \emph{dynamically} accurate from still images and videos of objects in motion. The resulting Dynamics-Augmented Neural Objects (DANOs) are simulated with an existing differentiable simulation engine, Dojo, interacting with other standard simulation objects, such as spheres, planes, and robots specified as URDFs. A robot can use this simulation to optimize grasps and manipulation trajectories of neural objects, or to improve the neural object models through gradient-based real-to-simulation transfer. We demonstrate the pipeline to learn the coefficient of friction of a bar of soap from a real video of the soap sliding on a table. We also learn the coefficient of friction and mass of a Stanford bunny through interactions with a Panda robot arm from synthetic data, and we optimize trajectories in simulation for the Panda arm to push the bunny to a goal location.

Hong-Xing Yu, Michelle Guo, Alireza Fathi et al. · stanford

Photorealistic object appearance modeling from 2D images is a constant topic in vision and graphics. While neural implicit methods (such as Neural Radiance Fields) have shown high-fidelity view synthesis results, they cannot relight the captured objects. More recent neural inverse rendering approaches have enabled object relighting, but they represent surface properties as simple BRDFs, and therefore cannot handle translucent objects. We propose Object-Centric Neural Scattering Functions (OSFs) for learning to reconstruct object appearance from only images. OSFs not only support free-viewpoint object relighting, but also can model both opaque and translucent objects. While accurately modeling subsurface light transport for translucent objects can be highly complex and even intractable for neural methods, OSFs learn to approximate the radiance transfer from a distant light to an outgoing direction at any spatial location. This approximation avoids explicitly modeling complex subsurface scattering, making learning a neural implicit model tractable. Experiments on real and synthetic data show that OSFs accurately reconstruct appearances for both opaque and translucent objects, allowing faithful free-viewpoint relighting as well as scene composition.

Ziang Liu, Stephen Tian, Michelle Guo et al. · stanford

When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional capabilities through tool use. Recent techniques for jointly optimizing morphology and control via deep learning are effective at designing locomotion agents. But while outputting a single morphology makes sense for locomotion, manipulation involves a variety of strategies depending on the task goals at hand. A manipulation agent must be capable of rapidly prototyping specialized tools for different goals. Therefore, we propose learning a designer policy, rather than a single design. A designer policy is conditioned on task information and outputs a tool design that helps solve the task. A design-conditioned controller policy can then perform manipulation using these tools. In this work, we take a step towards this goal by introducing a reinforcement learning framework for jointly learning these policies. Through simulated manipulation tasks, we show that this framework is more sample efficient than prior methods in multi-goal or multi-variant settings, can perform zero-shot interpolation or fine-tuning to tackle previously unseen goals, and allows tradeoffs between the complexity of design and control policies under practical constraints. Finally, we deploy our learned policies onto a real robot. Please see our supplementary video and website at https://robotic-tool-design.github.io/ for visualizations.

SAM 3D Team, Xingyu Chen, Fu-Jen Chu et al.

We present SAM 3D, a generative model for visually grounded 3D object reconstruction, predicting geometry, texture, and layout from a single image. SAM 3D excels in natural images, where occlusion and scene clutter are common and visual recognition cues from context play a larger role. We achieve this with a human- and model-in-the-loop pipeline for annotating object shape, texture, and pose, providing visually grounded 3D reconstruction data at unprecedented scale. We learn from this data in a modern, multi-stage training framework that combines synthetic pretraining with real-world alignment, breaking the 3D "data barrier". We obtain significant gains over recent work, with at least a 5:1 win rate in human preference tests on real-world objects and scenes. We will release our code and model weights, an online demo, and a new challenging benchmark for in-the-wild 3D object reconstruction.

Michelle Guo, Mia Tang, Hannah Cha et al.

For designing a wide range of everyday objects, the design process should be aware of both the human body and the underlying semantics of the design specification. However, these two objectives present significant challenges to the current AI-based designing tools. In this work, we present a method to synthesize body-aware 3D objects from a base mesh given an input body geometry and either text or image as guidance. The generated objects can be simulated on virtual characters, or fabricated for real-world use. We propose to use a mesh deformation procedure that optimizes for both semantic alignment as well as contact and penetration losses. Using our method, users can generate both virtual or real-world objects from text, image, or sketch, without the need for manual artist intervention. We present both qualitative and quantitative results on various object categories, demonstrating the effectiveness of our approach.

Yifeng Jiang, Michelle Guo, Jiangshan Li et al.

Creating virtual humans with embodied, human-like perceptual and actuation constraints has the promise to provide an integrated simulation platform for many scientific and engineering applications. We present Dynamic and Autonomous Simulated Human (DASH), an embodied virtual human that, given natural language commands, performs grasp-and-stack tasks in a physically-simulated cluttered environment solely using its own visual perception, proprioception, and touch, without requiring human motion data. By factoring the DASH system into a vision module, a language module, and manipulation modules of two skill categories, we can mix and match analytical and machine learning techniques for different modules so that DASH is able to not only perform randomly arranged tasks with a high success rate, but also do so under anthropomorphic constraints and with fluid and diverse motions. The modular design also favors analysis and extensibility to more complex manipulation skills.

Michelle Guo, Alireza Fathi, Jiajun Wu et al.

We present a method for composing photorealistic scenes from captured images of objects. Our work builds upon neural radiance fields (NeRFs), which implicitly model the volumetric density and directionally-emitted radiance of a scene. While NeRFs synthesize realistic pictures, they only model static scenes and are closely tied to specific imaging conditions. This property makes NeRFs hard to generalize to new scenarios, including new lighting or new arrangements of objects. Instead of learning a scene radiance field as a NeRF does, we propose to learn object-centric neural scattering functions (OSFs), a representation that models per-object light transport implicitly using a lighting- and view-dependent neural network. This enables rendering scenes even when objects or lights move, without retraining. Combined with a volumetric path tracing procedure, our framework is capable of rendering both intra- and inter-object light transport effects including occlusions, specularities, shadows, and indirect illumination. We evaluate our approach on scene composition and show that it generalizes to novel illumination conditions, producing photorealistic, physically accurate renderings of multi-object scenes.

Michelle Guo, Albert Haque, Prateek Verma

In this paper, we address the task of spoken language understanding. We present a method for translating spoken sentences from one language into spoken sentences in another language. Given spectrogram-spectrogram pairs, our model can be trained completely from scratch to translate unseen sentences. Our method consists of a pyramidal-bidirectional recurrent network combined with a convolutional network to output sentence-level spectrograms in the target language. Empirically, our model achieves competitive performance with state-of-the-art methods on multiple languages and can generalize to unseen speakers.

Albert Haque, Michelle Guo, Prateek Verma et al.

We propose spoken sentence embeddings which capture both acoustic and linguistic content. While existing works operate at the character, phoneme, or word level, our method learns long-term dependencies by modeling speech at the sentence level. Formulated as an audio-linguistic multitask learning problem, our encoder-decoder model simultaneously reconstructs acoustic and natural language features from audio. Our results show that spoken sentence embeddings outperform phoneme and word-level baselines on speech recognition and emotion recognition tasks. Ablation studies show that our embeddings can better model high-level acoustic concepts while retaining linguistic content. Overall, our work illustrates the viability of generic, multi-modal sentence embeddings for spoken language understanding.

Edward Chou, Matthew Tan, Cherry Zou et al.

Computer-vision hospital systems can greatly assist healthcare workers and improve medical facility treatment, but often face patient resistance due to the perceived intrusiveness and violation of privacy associated with visual surveillance. We downsample video frames to extremely low resolutions to degrade private information from surveillance videos. We measure the amount of activity-recognition information retained in low resolution depth images, and also apply a privately-trained DCSCN super-resolution model to enhance the utility of our images. We implement our techniques with two actual healthcare-surveillance scenarios, hand-hygiene compliance and ICU activity-logging, and show that our privacy-preserving techniques preserve enough information for realistic healthcare tasks.

Albert Haque, Michelle Guo, Adam S Miner et al.

With more than 300 million people depressed worldwide, depression is a global problem. Due to access barriers such as social stigma, cost, and treatment availability, 60% of mentally-ill adults do not receive any mental health services. Effective and efficient diagnosis relies on detecting clinical symptoms of depression. Automatic detection of depressive symptoms would potentially improve diagnostic accuracy and availability, leading to faster intervention. In this work, we present a machine learning method for measuring the severity of depressive symptoms. Our multi-modal method uses 3D facial expressions and spoken language, commonly available from modern cell phones. It demonstrates an average error of 3.67 points (15.3% relative) on the clinically-validated Patient Health Questionnaire (PHQ) scale. For detecting major depressive disorder, our model demonstrates 83.3% sensitivity and 82.6% specificity. Overall, this paper shows how speech recognition, computer vision, and natural language processing can be combined to assist mental health patients and practitioners. This technology could be deployed to cell phones worldwide and facilitate low-cost universal access to mental health care.

Albert Haque, Michelle Guo, Prateek Verma

We present an end-to-end method for transforming audio from one style to another. For the case of speech, by conditioning on speaker identities, we can train a single model to transform words spoken by multiple people into multiple target voices. For the case of music, we can specify musical instruments and achieve the same result. Architecturally, our method is a fully-differentiable sequence-to-sequence model based on convolutional and hierarchical recurrent neural networks. It is designed to capture long-term acoustic dependencies, requires minimal post-processing, and produces realistic audio transforms. Ablation studies confirm that our model can separate speaker and instrument properties from acoustic content at different receptive fields. Empirically, our method achieves competitive performance on community-standard datasets.

Albert Haque, Michelle Guo, Alexandre Alahi et al.

One in twenty-five patients admitted to a hospital will suffer from a hospital acquired infection. If we can intelligently track healthcare staff, patients, and visitors, we can better understand the sources of such infections. We envision a smart hospital capable of increasing operational efficiency and improving patient care with less spending. In this paper, we propose a non-intrusive vision-based system for tracking people's activity in hospitals. We evaluate our method for the problem of measuring hand hygiene compliance. Empirically, our method outperforms existing solutions such as proximity-based techniques and covert in-person observational studies. We present intuitive, qualitative results that analyze human movement patterns and conduct spatial analytics which convey our method's interpretability. This work is a step towards a computer-vision based smart hospital and demonstrates promising results for reducing hospital acquired infections.

Liang Lu, Michelle Guo, Steve Renals

Deep learning has significantly advanced state-of-the-art of speech recognition in the past few years. However, compared to conventional Gaussian mixture acoustic models, neural network models are usually much larger, and are therefore not very deployable in embedded devices. Previously, we investigated a compact highway deep neural network (HDNN) for acoustic modelling, which is a type of depth-gated feedforward neural network. We have shown that HDNN-based acoustic models can achieve comparable recognition accuracy with much smaller number of model parameters compared to plain deep neural network (DNN) acoustic models. In this paper, we push the boundary further by leveraging on the knowledge distillation technique that is also known as {\it teacher-student} training, i.e., we train the compact HDNN model with the supervision of a high accuracy cumbersome model. Furthermore, we also investigate sequence training and adaptation in the context of teacher-student training. Our experiments were performed on the AMI meeting speech recognition corpus. With this technique, we significantly improved the recognition accuracy of the HDNN acoustic model with less than 0.8 million parameters, and narrowed the gap between this model and the plain DNN with 30 million parameters.