Zikun Zhou

Yushuai Sun, Zikun Zhou, Dongmei Jiang et al.

Asymmetric retrieval is a typical scenario in real-world retrieval systems, where compatible models of varying capacities are deployed on platforms with different resource configurations. Existing methods generally train pre-defined networks or subnetworks with capacities specifically designed for pre-determined platforms, using compatible learning. Nevertheless, these methods suffer from limited flexibility for multi-platform deployment. For example, when introducing a new platform into the retrieval systems, developers have to train an additional model at an appropriate capacity that is compatible with existing models via backward-compatible learning. In this paper, we propose a Prunable Network with self-compatibility, which allows developers to generate compatible subnetworks at any desired capacity through post-training pruning. Thus it allows the creation of a sparse subnetwork matching the resources of the new platform without additional training. Specifically, we optimize both the architecture and weight of subnetworks at different capacities within a dense network in compatible learning. We also design a conflict-aware gradient integration scheme to handle the gradient conflicts between the dense network and subnetworks during compatible learning. Extensive experiments on diverse benchmarks and visual backbones demonstrate the effectiveness of our method. Our code and model are available at https://github.com/Bunny-Black/PrunNet.

Jingwen Zhang, Zikun Zhou, Guangming Lu et al.

3D single object tracking remains a challenging problem due to the sparsity and incompleteness of the point clouds. Existing algorithms attempt to address the challenges in two strategies. The first strategy is to learn dense geometric features based on the captured sparse point cloud. Nevertheless, it is quite a formidable task since the learned dense geometric features are with high uncertainty for depicting the shape of the target object. The other strategy is to aggregate the sparse geometric features of multiple templates to enrich the shape information, which is a routine solution in 2D tracking. However, aggregating the coarse shape representations can hardly yield a precise shape representation. Different from 2D pixels, 3D points of different frames can be directly fused by coordinate transform, i.e., shape completion. Considering that, we propose to construct a synthetic target representation composed of dense and complete point clouds depicting the target shape precisely by shape completion for robust 3D tracking. Specifically, we design a voxelized 3D tracking framework with shape completion, in which we propose a quality-aware shape completion mechanism to alleviate the adverse effect of noisy historical predictions. It enables us to effectively construct and leverage the synthetic target representation. Besides, we also develop a voxelized relation modeling module and box refinement module to improve tracking performance. Favorable performance against state-of-the-art algorithms on three benchmarks demonstrates the effectiveness and generalization ability of our method.

Xinqi Liu, Li Zhou, Zikun Zhou et al.

The vision-language tracking task aims to perform object tracking based on various modality references. Existing Transformer-based vision-language tracking methods have made remarkable progress by leveraging the global modeling ability of self-attention. However, current approaches still face challenges in effectively exploiting the temporal information and dynamically updating reference features during tracking. Recently, the State Space Model (SSM), known as Mamba, has shown astonishing ability in efficient long-sequence modeling. Particularly, its state space evolving process demonstrates promising capabilities in memorizing multimodal temporal information with linear complexity. Witnessing its success, we propose a Mamba-based vision-language tracking model to exploit its state space evolving ability in temporal space for robust multimodal tracking, dubbed MambaVLT. In particular, our approach mainly integrates a time-evolving hybrid state space block and a selective locality enhancement block, to capture contextual information for multimodal modeling and adaptive reference feature update. Besides, we introduce a modality-selection module that dynamically adjusts the weighting between visual and language references, mitigating potential ambiguities from either reference type. Extensive experimental results show that our method performs favorably against state-of-the-art trackers across diverse benchmarks.

Jianqiu Chen, Zikun Zhou, Xin Li et al.

Bin-picking is a practical and challenging robotic manipulation task, where accurate 6D pose estimation plays a pivotal role. The workpieces in bin-picking are typically textureless and randomly stacked in a bin, which poses a significant challenge to 6D pose estimation. Existing solutions are typically learning-based methods, which require object-specific training. Their efficiency of practical deployment for novel workpieces is highly limited by data collection and model retraining. Zero-shot 6D pose estimation is a potential approach to address the issue of deployment efficiency. Nevertheless, existing zero-shot 6D pose estimation methods are designed to leverage feature matching to establish point-to-point correspondences for pose estimation, which is less effective for workpieces with textureless appearances and ambiguous local regions. In this paper, we propose ZeroBP, a zero-shot pose estimation framework designed specifically for the bin-picking task. ZeroBP learns Position-Aware Correspondence (PAC) between the scene instance and its CAD model, leveraging both local features and global positions to resolve the mismatch issue caused by ambiguous regions with similar shapes and appearances. Extensive experiments on the ROBI dataset demonstrate that ZeroBP outperforms state-of-the-art zero-shot pose estimation methods, achieving an improvement of 9.1% in average recall of correct poses.

Xinyu Wang, Zikun Zhou, Yingjian Li et al.

Coding images for machines with minimal bitrate and strong analysis performance is key to effective edge-cloud systems. Several approaches deploy an image codec and perform analysis on the reconstructed image. Other methods compress intermediate features using entropy models and subsequently perform analysis on the decoded features. Nevertheless, these methods both perform poorly under low-bitrate conditions, as they retain many redundant details or learn over-concentrated symbol distributions. In this paper, we propose a Codebook-based Adaptive Feature Compression framework with Semantic Enhancement, named CAFC-SE. It maps continuous visual features to discrete indices with a codebook at the edge via Vector Quantization (VQ) and selectively transmits them to the cloud. The VQ operation that projects feature vectors onto the nearest visual primitives enables us to preserve more informative visual patterns under low-bitrate conditions. Hence, CAFC-SE is less vulnerable to low-bitrate conditions. Extensive experiments demonstrate the superiority of our method in terms of rate and accuracy.