Philipp Krähenbühl

Xingyi Zhou, Tianwei Yin, Vladlen Koltun et al.

We present a novel transformer-based architecture for global multi-object tracking. Our network takes a short sequence of frames as input and produces global trajectories for all objects. The core component is a global tracking transformer that operates on objects from all frames in the sequence. The transformer encodes object features from all frames, and uses trajectory queries to group them into trajectories. The trajectory queries are object features from a single frame and naturally produce unique trajectories. Our global tracking transformer does not require intermediate pairwise grouping or combinatorial association, and can be jointly trained with an object detector. It achieves competitive performance on the popular MOT17 benchmark, with 75.3 MOTA and 59.1 HOTA. More importantly, our framework seamlessly integrates into state-of-the-art large-vocabulary detectors to track any objects. Experiments on the challenging TAO dataset show that our framework consistently improves upon baselines that are based on pairwise association, outperforming published works by a significant 7.7 tracking mAP. Code is available at https://github.com/xingyizhou/GTR.

Yue Zhao, Ishan Misra, Philipp Krähenbühl et al. · meta-ai

We introduce LaViLa, a new approach to learning video-language representations by leveraging Large Language Models (LLMs). We repurpose pre-trained LLMs to be conditioned on visual input, and finetune them to create automatic video narrators. Our auto-generated narrations offer a number of advantages, including dense coverage of long videos, better temporal synchronization of the visual information and text, and much higher diversity of text. The video-text embedding learned contrastively with these additional auto-generated narrations outperforms the previous state-of-the-art on multiple first-person and third-person video tasks, both in zero-shot and finetuned setups. Most notably, LaViLa obtains an absolute gain of 10.1% on EGTEA classification and 5.9% Epic-Kitchens-100 multi-instance retrieval benchmarks. Furthermore, LaViLa trained with only half the narrations from the Ego4D dataset outperforms baseline models trained on the full set, and shows positive scaling behavior on increasing pre-training data and model size.

Dian Chen, Philipp Krähenbühl

In this paper, we present a system to train driving policies from experiences collected not just from the ego-vehicle, but all vehicles that it observes. This system uses the behaviors of other agents to create more diverse driving scenarios without collecting additional data. The main difficulty in learning from other vehicles is that there is no sensor information. We use a set of supervisory tasks to learn an intermediate representation that is invariant to the viewpoint of the controlling vehicle. This not only provides a richer signal at training time but also allows more complex reasoning during inference. Learning how all vehicles drive helps predict their behavior at test time and can avoid collisions. We evaluate this system in closed-loop driving simulations. Our system outperforms all prior methods on the public CARLA Leaderboard by a wide margin, improving driving score by 25 and route completion rate by 24 points. Our method won the 2021 CARLA Autonomous Driving challenge. Code and data are available at https://github.com/dotchen/LAV.

Jang Hyun Cho, Philipp Krähenbühl

Large-scale object detection and instance segmentation face a severe data imbalance. The finer-grained object classes become, the less frequent they appear in our datasets. However, at test-time, we expect a detector that performs well for all classes and not just the most frequent ones. In this paper, we provide a theoretical understanding of the long-trail detection problem. We show how the commonly used mean average precision evaluation metric on an unknown test set is bound by a margin-based binary classification error on a long-tailed object detection training set. We optimize margin-based binary classification error with a novel surrogate objective called \textbf{Effective Class-Margin Loss} (ECM). The ECM loss is simple, theoretically well-motivated, and outperforms other heuristic counterparts on LVIS v1 benchmark over a wide range of architecture and detectors. Code is available at \url{https://github.com/janghyuncho/ECM-Loss}.

Jeffrey Ouyang-Zhang, Jang Hyun Cho, Xingyi Zhou et al.

Detection Transformer (DETR) directly transforms queries to unique objects by using one-to-one bipartite matching during training and enables end-to-end object detection. Recently, these models have surpassed traditional detectors on COCO with undeniable elegance. However, they differ from traditional detectors in multiple designs, including model architecture and training schedules, and thus the effectiveness of one-to-one matching is not fully understood. In this work, we conduct a strict comparison between the one-to-one Hungarian matching in DETRs and the one-to-many label assignments in traditional detectors with non-maximum supervision (NMS). Surprisingly, we observe one-to-many assignments with NMS consistently outperform standard one-to-one matching under the same setting, with a significant gain of up to 2.5 mAP. Our detector that trains Deformable-DETR with traditional IoU-based label assignment achieved 50.2 COCO mAP within 12 epochs (1x schedule) with ResNet50 backbone, outperforming all existing traditional or transformer-based detectors in this setting. On multiple datasets, schedules, and architectures, we consistently show bipartite matching is unnecessary for performant detection transformers. Furthermore, we attribute the success of detection transformers to their expressive transformer architecture. Code is available at https://github.com/jozhang97/DETA.

Yue Zhao, Philipp Krähenbühl

Videos are big, complex to pre-process, and slow to train on. State-of-the-art large-scale video models are trained on clusters of 32 or more GPUs for several days. As a consequence, academia largely ceded the training of large video models to industry. In this paper, we show how to still train a state-of-the-art video model on a single machine with eight consumer-grade GPUs in a day. We identify three bottlenecks, IO, CPU, and GPU computation, and optimize each. The result is a highly efficient video training pipeline. For comparable architectures, our pipeline achieves higher accuracies with $\frac{1}{8}$ of the computation compared to prior work. Code is available at https://github.com/zhaoyue-zephyrus/AVION.

Brady Zhou, Philipp Krähenbühl

We present cross-view transformers, an efficient attention-based model for map-view semantic segmentation from multiple cameras. Our architecture implicitly learns a mapping from individual camera views into a canonical map-view representation using a camera-aware cross-view attention mechanism. Each camera uses positional embeddings that depend on its intrinsic and extrinsic calibration. These embeddings allow a transformer to learn the mapping across different views without ever explicitly modeling it geometrically. The architecture consists of a convolutional image encoder for each view and cross-view transformer layers to infer a map-view semantic segmentation. Our model is simple, easily parallelizable, and runs in real-time. The presented architecture performs at state-of-the-art on the nuScenes dataset, with 4x faster inference speeds. Code is available at https://github.com/bradyz/cross_view_transformers.

Yue Zhao, Philipp Krähenbühl

Streaming video recognition reasons about objects and their actions in every frame of a video. A good streaming recognition model captures both long-term dynamics and short-term changes of video. Unfortunately, in most existing methods, the computational complexity grows linearly or quadratically with the length of the considered dynamics. This issue is particularly pronounced in transformer-based architectures. To address this issue, we reformulate the cross-attention in a video transformer through the lens of kernel and apply two kinds of temporal smoothing kernel: A box kernel or a Laplace kernel. The resulting streaming attention reuses much of the computation from frame to frame, and only requires a constant time update each frame. Based on this idea, we build TeSTra, a Temporal Smoothing Transformer, that takes in arbitrarily long inputs with constant caching and computing overhead. Specifically, it runs $6\times$ faster than equivalent sliding-window based transformers with 2,048 frames in a streaming setting. Furthermore, thanks to the increased temporal span, TeSTra achieves state-of-the-art results on THUMOS'14 and EPIC-Kitchen-100, two standard online action detection and action anticipation datasets. A real-time version of TeSTra outperforms all but one prior approaches on the THUMOS'14 dataset.

Shuhan Tan, Boris Ivanovic, Yuxiao Chen et al.

Simulation stands as a cornerstone for safe and efficient autonomous driving development. At its core a simulation system ought to produce realistic, reactive, and controllable traffic patterns. In this paper, we propose ProSim, a multimodal promptable closed-loop traffic simulation framework. ProSim allows the user to give a complex set of numerical, categorical or textual prompts to instruct each agent's behavior and intention. ProSim then rolls out a traffic scenario in a closed-loop manner, modeling each agent's interaction with other traffic participants. Our experiments show that ProSim achieves high prompt controllability given different user prompts, while reaching competitive performance on the Waymo Sim Agents Challenge when no prompt is given. To support research on promptable traffic simulation, we create ProSim-Instruct-520k, a multimodal prompt-scenario paired driving dataset with over 10M text prompts for over 520k real-world driving scenarios. We will release code of ProSim as well as data and labeling tools of ProSim-Instruct-520k at https://ariostgx.github.io/ProSim.

Jang Hyun Cho, Philipp Krähenbühl

We present a new open-vocabulary detection framework. Our framework uses both image-level labels and detailed detection annotations when available. Our framework proceeds in three steps. We first train a language-conditioned object detector on fully-supervised detection data. This detector gets to see the presence or absence of ground truth classes during training, and conditions prediction on the set of present classes. We use this detector to pseudo-label images with image-level labels. Our detector provides much more accurate pseudo-labels than prior approaches with its conditioning mechanism. Finally, we train an unconditioned open-vocabulary detector on the pseudo-annotated images. The resulting detector, named DECOLA, shows strong zero-shot performance in open-vocabulary LVIS benchmark as well as direct zero-shot transfer benchmarks on LVIS, COCO, Object365, and OpenImages. DECOLA outperforms the prior arts by 17.1 AP-rare and 9.4 mAP on zero-shot LVIS benchmark. DECOLA achieves state-of-the-art results in various model sizes, architectures, and datasets by only training on open-sourced data and academic-scale computing. Code is available at https://github.com/janghyuncho/DECOLA.

Shuhan Tan, Kashyap Chitta, Yuxiao Chen et al.

Recent Vision-Language-Action (VLA) models for autonomous driving explore inference-time reasoning as a way to improve driving performance and safety in challenging scenarios. Most prior work uses natural language to express chain-of-thought (CoT) reasoning before producing driving actions. However, text may not be the most efficient representation for reasoning. In this work, we present Latent-CoT-Drive (LCDrive): a model that expresses CoT in a latent language that captures possible outcomes of the driving actions being considered. Our approach unifies CoT reasoning and decision making by representing both in an action-aligned latent space. Instead of natural language, the model reasons by interleaving (1) action-proposal tokens, which use the same vocabulary as the model's output actions; and (2) world model tokens, which are grounded in a learned latent world model and express future outcomes of these actions. We cold start latent CoT by supervising the model's action proposals and world model tokens based on ground-truth future rollouts of the scene. We then post-train with closed-loop reinforcement learning to strengthen reasoning capabilities. On a large-scale end-to-end driving benchmark, LCDrive achieves faster inference, better trajectory quality, and larger improvements from interactive reinforcement learning compared to both non-reasoning and text-reasoning baselines.

Yue Zhao, Hanwen Jiang, Zhenlin Xu et al.

Non-parametric quantization has received much attention due to its efficiency on parameters and scalability to a large codebook. In this paper, we present a unified formulation of different non-parametric quantization methods through the lens of lattice coding. The geometry of lattice codes explains the necessity of auxiliary loss terms when training auto-encoders with certain existing lookup-free quantization variants such as BSQ. As a step forward, we explore a few possible candidates, including random lattices, generalized Fibonacci lattices, and densest sphere packing lattices. Among all, we find the Leech lattice-based quantization method, which is dubbed as Spherical Leech Quantization ($Λ_{24}$-SQ), leads to both a simplified training recipe and an improved reconstruction-compression tradeoff thanks to its high symmetry and even distribution on the hypersphere. In image tokenization and compression tasks, this quantization approach achieves better reconstruction quality across all metrics than BSQ, the best prior art, while consuming slightly fewer bits. The improvement also extends to state-of-the-art auto-regressive image generation frameworks.

Brady Zhou, Philipp Krähenbühl

Human drivers rarely travel where no person has gone before. After all, thousands of drivers use busy city roads every day, and only one can claim to be the first. The same holds for autonomous computer vision systems. The vast majority of the deployment area of an autonomous vision system will have been visited before. Yet, most autonomous vehicle vision systems act as if they are encountering each location for the first time. In this work, we present Compressed Map Priors (CMP), a simple but effective framework to learn spatial priors from historic traversals. The map priors use a binarized hashmap that requires only $32\text{KB}/\text{km}^2$, a $20\times$ reduction compared to the dense storage. Compressed Map Priors easily integrate into leading 3D perception systems at little to no extra computational costs, and lead to a significant and consistent improvement in 3D object detection on the nuScenes dataset across several architectures.

Xingyi Zhou, Vladlen Koltun, Philipp Krähenbühl

How do we build a general and broad object detection system? We use all labels of all concepts ever annotated. These labels span diverse datasets with potentially inconsistent taxonomies. In this paper, we present a simple method for training a unified detector on multiple large-scale datasets. We use dataset-specific training protocols and losses, but share a common detection architecture with dataset-specific outputs. We show how to automatically integrate these dataset-specific outputs into a common semantic taxonomy. In contrast to prior work, our approach does not require manual taxonomy reconciliation. Experiments show our learned taxonomy outperforms a expert-designed taxonomy in all datasets. Our multi-dataset detector performs as well as dataset-specific models on each training domain, and can generalize to new unseen dataset without fine-tuning on them. Code is available at https://github.com/xingyizhou/UniDet.

Aashaka Shah, Chao-Yuan Wu, Jayashree Mohan et al.

Deep learning is slowly, but steadily, hitting a memory bottleneck. While the tensor computation in top-of-the-line GPUs increased by 32x over the last five years, the total available memory only grew by 2.5x. This prevents researchers from exploring larger architectures, as training large networks requires more memory for storing intermediate outputs. In this paper, we present MONeT, an automatic framework that minimizes both the memory footprint and computational overhead of deep networks. MONeT jointly optimizes the checkpointing schedule and the implementation of various operators. MONeT is able to outperform all prior hand-tuned operations as well as automated checkpointing. MONeT reduces the overall memory requirement by 3x for various PyTorch models, with a 9-16% overhead in computation. For the same computation cost, MONeT requires 1.2-1.8x less memory than current state-of-the-art automated checkpointing frameworks. Our code is available at https://github.com/utsaslab/MONeT.

Tianwei Yin, Xingyi Zhou, Philipp Krähenbühl

Three-dimensional objects are commonly represented as 3D boxes in a point-cloud. This representation mimics the well-studied image-based 2D bounding-box detection but comes with additional challenges. Objects in a 3D world do not follow any particular orientation, and box-based detectors have difficulties enumerating all orientations or fitting an axis-aligned bounding box to rotated objects. In this paper, we instead propose to represent, detect, and track 3D objects as points. Our framework, CenterPoint, first detects centers of objects using a keypoint detector and regresses to other attributes, including 3D size, 3D orientation, and velocity. In a second stage, it refines these estimates using additional point features on the object. In CenterPoint, 3D object tracking simplifies to greedy closest-point matching. The resulting detection and tracking algorithm is simple, efficient, and effective. CenterPoint achieved state-of-the-art performance on the nuScenes benchmark for both 3D detection and tracking, with 65.5 NDS and 63.8 AMOTA for a single model. On the Waymo Open Dataset, CenterPoint outperforms all previous single model method by a large margin and ranks first among all Lidar-only submissions. The code and pretrained models are available at https://github.com/tianweiy/CenterPoint.

Sheng Cao, Chao-Yuan Wu, Philipp Krähenbühl

We introduce a simple and efficient lossless image compression algorithm. We store a low resolution version of an image as raw pixels, followed by several iterations of lossless super-resolution. For lossless super-resolution, we predict the probability of a high-resolution image, conditioned on the low-resolution input, and use entropy coding to compress this super-resolution operator. Super-Resolution based Compression (SReC) is able to achieve state-of-the-art compression rates with practical runtimes on large datasets. Code is available online at https://github.com/caoscott/SReC.

Chao-Yuan Wu, Ross Girshick, Kaiming He et al.

Training competitive deep video models is an order of magnitude slower than training their counterpart image models. Slow training causes long research cycles, which hinders progress in video understanding research. Following standard practice for training image models, video model training assumes a fixed mini-batch shape: a specific number of clips, frames, and spatial size. However, what is the optimal shape? High resolution models perform well, but train slowly. Low resolution models train faster, but they are inaccurate. Inspired by multigrid methods in numerical optimization, we propose to use variable mini-batch shapes with different spatial-temporal resolutions that are varied according to a schedule. The different shapes arise from resampling the training data on multiple sampling grids. Training is accelerated by scaling up the mini-batch size and learning rate when shrinking the other dimensions. We empirically demonstrate a general and robust grid schedule that yields a significant out-of-the-box training speedup without a loss in accuracy for different models (I3D, non-local, SlowFast), datasets (Kinetics, Something-Something, Charades), and training settings (with and without pre-training, 128 GPUs or 1 GPU). As an illustrative example, the proposed multigrid method trains a ResNet-50 SlowFast network 4.5x faster (wall-clock time, same hardware) while also improving accuracy (+0.8% absolute) on Kinetics-400 compared to the baseline training method. Code is available online.

Kevin Chen, Marco Cusumano-Towner, Brody Huval et al.

Interactive digital agents (IDAs) leverage APIs of stateful digital environments to perform tasks in response to user requests. While IDAs powered by instruction-tuned large language models (LLMs) can react to feedback from interface invocations in multi-step exchanges, they have not been trained in their respective digital environments. Prior methods accomplish less than half of tasks in sophisticated benchmarks such as AppWorld. We present a reinforcement learning (RL) approach that trains IDAs directly in their target environments. We formalize this training as a partially observable Markov decision process and derive LOOP, a data- and memory-efficient variant of proximal policy optimization. LOOP uses no value network and maintains exactly one copy of the underlying LLM in memory, making its implementation straightforward and as memory-efficient as fine-tuning a single LLM. A 32-billion-parameter agent trained with LOOP in the AppWorld environment outperforms the much larger OpenAI o1 agent by 9 percentage points (15% relative). To our knowledge, this is the first reported application of RL to IDAs that interact with a stateful, multi-domain, multi-app environment via direct API calls. Our analysis sheds light on the effectiveness of RL in this area, showing that the agent learns to consult the API documentation, avoid unwarranted assumptions, minimize confabulation, and recover from setbacks.

Marco Cusumano-Towner, David Hafner, Alex Hertzberg et al.

Self-play has powered breakthroughs in two-player and multi-player games. Here we show that self-play is a surprisingly effective strategy in another domain. We show that robust and naturalistic driving emerges entirely from self-play in simulation at unprecedented scale -- 1.6~billion~km of driving. This is enabled by Gigaflow, a batched simulator that can synthesize and train on 42 years of subjective driving experience per hour on a single 8-GPU node. The resulting policy achieves state-of-the-art performance on three independent autonomous driving benchmarks. The policy outperforms the prior state of the art when tested on recorded real-world scenarios, amidst human drivers, without ever seeing human data during training. The policy is realistic when assessed against human references and achieves unprecedented robustness, averaging 17.5 years of continuous driving between incidents in simulation.

Shuhan Tan, Kairan Dou, Yue Zhao et al.

We introduce RIPT-VLA, a simple and scalable reinforcement-learning-based interactive post-training paradigm that fine-tunes pretrained Vision-Language-Action (VLA) models using only sparse binary success rewards. Existing VLA training pipelines rely heavily on offline expert demonstration data and supervised imitation, limiting their ability to adapt to new tasks and environments under low-data regimes. RIPT-VLA addresses this by enabling interactive post-training with a stable policy optimization algorithm based on dynamic rollout sampling and leave-one-out advantage estimation. RIPT-VLA has the following characteristics. First, it applies to various VLA models, resulting in an improvement on the lightweight QueST model by 21.2%, and the 7B OpenVLA-OFT model to an unprecedented 97.5% success rate. Second, it is computationally efficient and data-efficient: with only one demonstration, RIPT-VLA enables an unworkable SFT model (4%) to succeed with a 97% success rate within 15 iterations. Furthermore, we demonstrate that the policy learned by RIPT-VLA generalizes across different tasks and scenarios and is robust to the initial state context. These results highlight RIPT-VLA as a practical and effective paradigm for post-training VLA models through minimal supervision.

Yue Zhao, Long Zhao, Xingyi Zhou et al. · deepmind

The recent advance in vision-language models is largely attributed to the abundance of image-text data. We aim to replicate this success for video-language models, but there simply is not enough human-curated video-text data available. We thus resort to fine-tuning a video-language model from a strong image-language baseline with synthesized instructional data. The resulting video model by video-instruction-tuning (VIIT) is then used to auto-label millions of videos to generate high-quality captions. We show the adapted video-language model performs well on a wide range of video-language benchmarks. For instance, it surpasses the best prior result on open-ended NExT-QA by 2.8%. Besides, our model generates detailed descriptions for previously unseen videos, which provide better textual supervision than existing methods. Experiments show that a video-language dual-encoder model contrastively trained on these auto-generated captions is 3.8% better than the strongest baseline that also leverages vision-language models. Our best model outperforms state-of-the-art methods on MSR-VTT zero-shot text-to-video retrieval by 6%. As a side product, we generate the largest video caption dataset to date.

Yue Zhao, Fuzhao Xue, Scott Reed et al.

We introduce Quantized Language-Image Pretraining (QLIP), a visual tokenization method that combines state-of-the-art reconstruction quality with state-of-the-art zero-shot image understanding. QLIP trains a binary-spherical-quantization-based autoencoder with reconstruction and language-image alignment objectives. We are the first to show that the two objectives do not need to be at odds. We balance the two loss terms dynamically during training and show that a two-stage training pipeline effectively mixes the large-batch requirements of image-language pre-training with the memory bottleneck imposed by the reconstruction objective. We validate the effectiveness of QLIP for multimodal understanding and text-conditioned image generation with a single model. Specifically, QLIP serves as a drop-in replacement for the visual encoder for LLaVA and the image tokenizer for LlamaGen with comparable or even better performance. Finally, we demonstrate that QLIP enables a unified mixed-modality auto-regressive model for understanding and generation.

Erik Wijmans, Brody Huval, Alexander Hertzberg et al.

As language models grow ever larger, so do their vocabularies. This has shifted the memory footprint of LLMs during training disproportionately to one single layer: the cross-entropy in the loss computation. Cross-entropy builds up a logit matrix with entries for each pair of input tokens and vocabulary items and, for small models, consumes an order of magnitude more memory than the rest of the LLM combined. We propose Cut Cross-Entropy (CCE), a method that computes the cross-entropy loss without materializing the logits for all tokens into global memory. Rather, CCE only computes the logit for the correct token and evaluates the log-sum-exp over all logits on the fly. We implement a custom kernel that performs the matrix multiplications and the log-sum-exp reduction over the vocabulary in flash memory, making global memory consumption for the cross-entropy computation negligible. This has a dramatic effect. Taking the Gemma 2 (2B) model as an example, CCE reduces the memory footprint of the loss computation from 24 GB to 1 MB, and the total training-time memory consumption of the classifier head from 28 GB to 1 GB. To improve the throughput of CCE, we leverage the inherent sparsity of softmax and propose to skip elements of the gradient computation that have a negligible (i.e., below numerical precision) contribution to the gradient. Experiments demonstrate that the dramatic reduction in memory consumption is accomplished without sacrificing training speed or convergence.

Jeffrey Ouyang-Zhang, Pranav Murugan, Daniel J. Diaz et al. · cmu

AlphaFold has transformed protein structure prediction, but emerging applications such as virtual ligand screening, proteome-wide folding, and de novo binder design demand predictions at a massive scale, where runtime and memory costs become prohibitive. A major bottleneck lies in the Pairformer backbone of AlphaFold3-style models, which relies on computationally expensive triangular primitives-especially triangle attention-for pairwise reasoning. We introduce Pairmixer, a streamlined alternative that eliminates triangle attention while preserving higher-order geometric reasoning capabilities that are critical for structure prediction. Pairmixer substantially improves computational efficiency, matching state-of-the-art structure predictors across folding and docking benchmarks, delivering up to 4x faster inference on long sequences while reducing training cost by 34%. Its efficiency alleviates the computational burden of downstream applications such as modeling large protein complexes, high-throughput ligand and binder screening, and hallucination-based design. Within BoltzDesign, for example, Pairmixer delivers over 2x faster sampling and scales to sequences ~30% longer than the memory limits of Pairformer.

Xiuyu Yang, Shuhan Tan, Philipp Krähenbühl

An ideal traffic simulator replicates the realistic long-term point-to-point trip that a self-driving system experiences during deployment. Prior models and benchmarks focus on closed-loop motion simulation for initial agents in a scene. This is problematic for long-term simulation. Agents enter and exit the scene as the ego vehicle enters new regions. We propose InfGen, a unified next-token prediction model that performs interleaved closed-loop motion simulation and scene generation. InfGen automatically switches between closed-loop motion simulation and scene generation mode. It enables stable long-term rollout simulation. InfGen performs at the state-of-the-art in short-term (9s) traffic simulation, and significantly outperforms all other methods in long-term (30s) simulation. The code and model of InfGen will be released at https://orangesodahub.github.io/InfGen

Yue Zhao, Yuanjun Xiong, Philipp Krähenbühl

We propose a new transformer-based image and video tokenizer with Binary Spherical Quantization (BSQ). BSQ projects the high-dimensional visual embedding to a lower-dimensional hypersphere and then applies binary quantization. BSQ is (1) parameter-efficient without an explicit codebook, (2) scalable to arbitrary token dimensions, and (3) compact: compressing visual data by up to 100$\times$ with minimal distortion. Our tokenizer uses a transformer encoder and decoder with simple block-wise causal masking to support variable-length videos as input. The resulting BSQ-ViT achieves state-of-the-art visual reconstruction quality on image and video reconstruction benchmarks with 2.4$\times$ throughput compared to the best prior methods. Furthermore, by learning an autoregressive prior for adaptive arithmetic coding, BSQ-ViT achieves comparable results on video compression with state-of-the-art video compression standards. BSQ-ViT also enables masked language models to achieve competitive image synthesis quality to GAN- and diffusion-based methods.

Jang Hyun Cho, Boris Ivanovic, Yulong Cao et al.

Multi-modal large language models (MLLMs) have shown incredible capabilities in a variety of 2D vision and language tasks. We extend MLLMs' perceptual capabilities to ground and reason about images in 3-dimensional space. To that end, we first develop a large-scale pre-training dataset for 2D and 3D called LV3D by combining multiple existing 2D and 3D recognition datasets under a common task formulation: as multi-turn question-answering. Next, we introduce a new MLLM named Cube-LLM and pre-train it on LV3D. We show that pure data scaling makes a strong 3D perception capability without 3D specific architectural design or training objective. Cube-LLM exhibits intriguing properties similar to LLMs: (1) Cube-LLM can apply chain-of-thought prompting to improve 3D understanding from 2D context information. (2) Cube-LLM can follow complex and diverse instructions and adapt to versatile input and output formats. (3) Cube-LLM can be visually prompted such as 2D box or a set of candidate 3D boxes from specialists. Our experiments on outdoor benchmarks demonstrate that Cube-LLM significantly outperforms existing baselines by 21.3 points of AP-BEV on the Talk2Car dataset for 3D grounded reasoning and 17.7 points on the DriveLM dataset for complex reasoning about driving scenarios, respectively. Cube-LLM also shows competitive results in general MLLM benchmarks such as refCOCO for 2D grounding with (87.0) average score, as well as visual question answering benchmarks such as VQAv2, GQA, SQA, POPE, etc. for complex reasoning. Our project is available at https://janghyuncho.github.io/Cube-LLM.

Tianwei Yin, Xingyi Zhou, Philipp Krähenbühl

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large objects close to the sensors are easily visible, but far-away or small objects comprise only one measurement or two. This is an issue, especially when these objects turn out to be driving hazards. On the other hand, these same objects are clearly visible in onboard RGB sensors. In this work, we present an approach to seamlessly fuse RGB sensors into Lidar-based 3D recognition. Our approach takes a set of 2D detections to generate dense 3D virtual points to augment an otherwise sparse 3D point cloud. These virtual points naturally integrate into any standard Lidar-based 3D detectors along with regular Lidar measurements. The resulting multi-modal detector is simple and effective. Experimental results on the large-scale nuScenes dataset show that our framework improves a strong CenterPoint baseline by a significant 6.6 mAP, and outperforms competing fusion approaches. Code and more visualizations are available at https://tianweiy.github.io/mvp/

Chao-Yuan Wu, Philipp Krähenbühl

Our world offers a never-ending stream of visual stimuli, yet today's vision systems only accurately recognize patterns within a few seconds. These systems understand the present, but fail to contextualize it in past or future events. In this paper, we study long-form video understanding. We introduce a framework for modeling long-form videos and develop evaluation protocols on large-scale datasets. We show that existing state-of-the-art short-term models are limited for long-form tasks. A novel object-centric transformer-based video recognition architecture performs significantly better on 7 diverse tasks. It also outperforms comparable state-of-the-art on the AVA dataset.

Dian Chen, Vladlen Koltun, Philipp Krähenbühl

We learn an interactive vision-based driving policy from pre-recorded driving logs via a model-based approach. A forward model of the world supervises a driving policy that predicts the outcome of any potential driving trajectory. To support learning from pre-recorded logs, we assume that the world is on rails, meaning neither the agent nor its actions influence the environment. This assumption greatly simplifies the learning problem, factorizing the dynamics into a nonreactive world model and a low-dimensional and compact forward model of the ego-vehicle. Our approach computes action-values for each training trajectory using a tabular dynamic-programming evaluation of the Bellman equations; these action-values in turn supervise the final vision-based driving policy. Despite the world-on-rails assumption, the final driving policy acts well in a dynamic and reactive world. At the time of writing, our method ranks first on the CARLA leaderboard, attaining a 25% higher driving score while using 40 times less data. Our method is also an order of magnitude more sample-efficient than state-of-the-art model-free reinforcement learning techniques on navigational tasks in the ProcGen benchmark.

Xingyi Zhou, Vladlen Koltun, Philipp Krähenbühl

We develop a probabilistic interpretation of two-stage object detection. We show that this probabilistic interpretation motivates a number of common empirical training practices. It also suggests changes to two-stage detection pipelines. Specifically, the first stage should infer proper object-vs-background likelihoods, which should then inform the overall score of the detector. A standard region proposal network (RPN) cannot infer this likelihood sufficiently well, but many one-stage detectors can. We show how to build a probabilistic two-stage detector from any state-of-the-art one-stage detector. The resulting detectors are faster and more accurate than both their one- and two-stage precursors. Our detector achieves 56.4 mAP on COCO test-dev with single-scale testing, outperforming all published results. Using a lightweight backbone, our detector achieves 49.2 mAP on COCO at 33 fps on a Titan Xp, outperforming the popular YOLOv4 model.

Brady Zhou, Nimit Kalra, Philipp Krähenbühl

Deep networks devour millions of precisely annotated images to build their complex and powerful representations. Unfortunately, tasks like autonomous driving have virtually no real-world training data. Repeatedly crashing a car into a tree is simply too expensive. The commonly prescribed solution is simple: learn a representation in simulation and transfer it to the real world. However, this transfer is challenging since simulated and real-world visual experiences vary dramatically. Our core observation is that for certain tasks, such as image recognition, datasets are plentiful. They exist in any interesting domain, simulated or real, and are easy to label and extend. We use these recognition datasets to link up a source and target domain to transfer models between them in a task distillation framework. Our method can successfully transfer navigation policies between drastically different simulators: ViZDoom, SuperTuxKart, and CARLA. Furthermore, it shows promising results on standard domain adaptation benchmarks.

Xingyi Zhou, Vladlen Koltun, Philipp Krähenbühl

Tracking has traditionally been the art of following interest points through space and time. This changed with the rise of powerful deep networks. Nowadays, tracking is dominated by pipelines that perform object detection followed by temporal association, also known as tracking-by-detection. In this paper, we present a simultaneous detection and tracking algorithm that is simpler, faster, and more accurate than the state of the art. Our tracker, CenterTrack, applies a detection model to a pair of images and detections from the prior frame. Given this minimal input, CenterTrack localizes objects and predicts their associations with the previous frame. That's it. CenterTrack is simple, online (no peeking into the future), and real-time. It achieves 67.3% MOTA on the MOT17 challenge at 22 FPS and 89.4% MOTA on the KITTI tracking benchmark at 15 FPS, setting a new state of the art on both datasets. CenterTrack is easily extended to monocular 3D tracking by regressing additional 3D attributes. Using monocular video input, it achieves 28.3% AMOTA@0.2 on the newly released nuScenes 3D tracking benchmark, substantially outperforming the monocular baseline on this benchmark while running at 28 FPS.

Dian Chen, Brady Zhou, Vladlen Koltun et al.

Vision-based urban driving is hard. The autonomous system needs to learn to perceive the world and act in it. We show that this challenging learning problem can be simplified by decomposing it into two stages. We first train an agent that has access to privileged information. This privileged agent cheats by observing the ground-truth layout of the environment and the positions of all traffic participants. In the second stage, the privileged agent acts as a teacher that trains a purely vision-based sensorimotor agent. The resulting sensorimotor agent does not have access to any privileged information and does not cheat. This two-stage training procedure is counter-intuitive at first, but has a number of important advantages that we analyze and empirically demonstrate. We use the presented approach to train a vision-based autonomous driving system that substantially outperforms the state of the art on the CARLA benchmark and the recent NoCrash benchmark. Our approach achieves, for the first time, 100% success rate on all tasks in the original CARLA benchmark, sets a new record on the NoCrash benchmark, and reduces the frequency of infractions by an order of magnitude compared to the prior state of the art. For the video that summarizes this work, see https://youtu.be/u9ZCxxD-UUw

Dequan Wang, Coline Devin, Qi-Zhi Cai et al.

Convolutions on monocular dash cam videos capture spatial invariances in the image plane but do not explicitly reason about distances and depth. We propose a simple transformation of observations into a bird's eye view, also known as plan view, for end-to-end control. We detect vehicles and pedestrians in the first person view and project them into an overhead plan view. This representation provides an abstraction of the environment from which a deep network can easily deduce the positions and directions of entities. Additionally, the plan view enables us to leverage advances in 3D object detection in conjunction with deep policy learning. We evaluate our monocular plan view network on the photo-realistic Grand Theft Auto V simulator. A network using both a plan view and front view causes less than half as many collisions as previous detection-based methods and an order of magnitude fewer collisions than pure pixel-based policies.

Xingyi Zhou, Jiacheng Zhuo, Philipp Krähenbühl

With the advent of deep learning, object detection drifted from a bottom-up to a top-down recognition problem. State of the art algorithms enumerate a near-exhaustive list of object locations and classify each into: object or not. In this paper, we show that bottom-up approaches still perform competitively. We detect four extreme points (top-most, left-most, bottom-most, right-most) and one center point of objects using a standard keypoint estimation network. We group the five keypoints into a bounding box if they are geometrically aligned. Object detection is then a purely appearance-based keypoint estimation problem, without region classification or implicit feature learning. The proposed method performs on-par with the state-of-the-art region based detection methods, with a bounding box AP of 43.2% on COCO test-dev. In addition, our estimated extreme points directly span a coarse octagonal mask, with a COCO Mask AP of 18.9%, much better than the Mask AP of vanilla bounding boxes. Extreme point guided segmentation further improves this to 34.6% Mask AP.

Chao-Yuan Wu, Christoph Feichtenhofer, Haoqi Fan et al.

To understand the world, we humans constantly need to relate the present to the past, and put events in context. In this paper, we enable existing video models to do the same. We propose a long-term feature bank---supportive information extracted over the entire span of a video---to augment state-of-the-art video models that otherwise would only view short clips of 2-5 seconds. Our experiments demonstrate that augmenting 3D convolutional networks with a long-term feature bank yields state-of-the-art results on three challenging video datasets: AVA, EPIC-Kitchens, and Charades.

Hou-Ning Hu, Qi-Zhi Cai, Dequan Wang et al.

Vehicle 3D extents and trajectories are critical cues for predicting the future location of vehicles and planning future agent ego-motion based on those predictions. In this paper, we propose a novel online framework for 3D vehicle detection and tracking from monocular videos. The framework can not only associate detections of vehicles in motion over time, but also estimate their complete 3D bounding box information from a sequence of 2D images captured on a moving platform. Our method leverages 3D box depth-ordering matching for robust instance association and utilizes 3D trajectory prediction for re-identification of occluded vehicles. We also design a motion learning module based on an LSTM for more accurate long-term motion extrapolation. Our experiments on simulation, KITTI, and Argoverse datasets show that our 3D tracking pipeline offers robust data association and tracking. On Argoverse, our image-based method is significantly better for tracking 3D vehicles within 30 meters than the LiDAR-centric baseline methods.

Charles Packer, Katelyn Gao, Jernej Kos et al.

Deep reinforcement learning (RL) has achieved breakthrough results on many tasks, but agents often fail to generalize beyond the environment they were trained in. As a result, deep RL algorithms that promote generalization are receiving increasing attention. However, works in this area use a wide variety of tasks and experimental setups for evaluation. The literature lacks a controlled assessment of the merits of different generalization schemes. Our aim is to catalyze community-wide progress on generalization in deep RL. To this end, we present a benchmark and experimental protocol, and conduct a systematic empirical study. Our framework contains a diverse set of environments, our methodology covers both in-distribution and out-of-distribution generalization, and our evaluation includes deep RL algorithms that specifically tackle generalization. Our key finding is that `vanilla' deep RL algorithms generalize better than specialized schemes that were proposed specifically to tackle generalization.

Chao-Yuan Wu, Nayan Singhal, Philipp Krähenbühl

An ever increasing amount of our digital communication, media consumption, and content creation revolves around videos. We share, watch, and archive many aspects of our lives through them, all of which are powered by strong video compression. Traditional video compression is laboriously hand designed and hand optimized. This paper presents an alternative in an end-to-end deep learning codec. Our codec builds on one simple idea: Video compression is repeated image interpolation. It thus benefits from recent advances in deep image interpolation and generation. Our deep video codec outperforms today's prevailing codecs, such as H.261, MPEG-4 Part 2, and performs on par with H.264.

Chao-Yuan Wu, Manzil Zaheer, Hexiang Hu et al.

Training robust deep video representations has proven to be much more challenging than learning deep image representations. This is in part due to the enormous size of raw video streams and the high temporal redundancy; the true and interesting signal is often drowned in too much irrelevant data. Motivated by that the superfluous information can be reduced by up to two orders of magnitude by video compression (using H.264, HEVC, etc.), we propose to train a deep network directly on the compressed video. This representation has a higher information density, and we found the training to be easier. In addition, the signals in a compressed video provide free, albeit noisy, motion information. We propose novel techniques to use them effectively. Our approach is about 4.6 times faster than Res3D and 2.7 times faster than ResNet-152. On the task of action recognition, our approach outperforms all the other methods on the UCF-101, HMDB-51, and Charades dataset.

Chao-Yuan Wu, R. Manmatha, Alexander J. Smola et al.

Deep embeddings answer one simple question: How similar are two images? Learning these embeddings is the bedrock of verification, zero-shot learning, and visual search. The most prominent approaches optimize a deep convolutional network with a suitable loss function, such as contrastive loss or triplet loss. While a rich line of work focuses solely on the loss functions, we show in this paper that selecting training examples plays an equally important role. We propose distance weighted sampling, which selects more informative and stable examples than traditional approaches. In addition, we show that a simple margin based loss is sufficient to outperform all other loss functions. We evaluate our approach on the Stanford Online Products, CAR196, and the CUB200-2011 datasets for image retrieval and clustering, and on the LFW dataset for face verification. Our method achieves state-of-the-art performance on all of them.

Jun-Yan Zhu, Philipp Krähenbühl, Eli Shechtman et al.

Realistic image manipulation is challenging because it requires modifying the image appearance in a user-controlled way, while preserving the realism of the result. Unless the user has considerable artistic skill, it is easy to "fall off" the manifold of natural images while editing. In this paper, we propose to learn the natural image manifold directly from data using a generative adversarial neural network. We then define a class of image editing operations, and constrain their output to lie on that learned manifold at all times. The model automatically adjusts the output keeping all edits as realistic as possible. All our manipulations are expressed in terms of constrained optimization and are applied in near-real time. We evaluate our algorithm on the task of realistic photo manipulation of shape and color. The presented method can further be used for changing one image to look like the other, as well as generating novel imagery from scratch based on user's scribbles.

Jeff Donahue, Philipp Krähenbühl, Trevor Darrell

The ability of the Generative Adversarial Networks (GANs) framework to learn generative models mapping from simple latent distributions to arbitrarily complex data distributions has been demonstrated empirically, with compelling results showing that the latent space of such generators captures semantic variation in the data distribution. Intuitively, models trained to predict these semantic latent representations given data may serve as useful feature representations for auxiliary problems where semantics are relevant. However, in their existing form, GANs have no means of learning the inverse mapping -- projecting data back into the latent space. We propose Bidirectional Generative Adversarial Networks (BiGANs) as a means of learning this inverse mapping, and demonstrate that the resulting learned feature representation is useful for auxiliary supervised discrimination tasks, competitive with contemporary approaches to unsupervised and self-supervised feature learning.

Deepak Pathak, Philipp Krahenbuhl, Jeff Donahue et al.

We present an unsupervised visual feature learning algorithm driven by context-based pixel prediction. By analogy with auto-encoders, we propose Context Encoders -- a convolutional neural network trained to generate the contents of an arbitrary image region conditioned on its surroundings. In order to succeed at this task, context encoders need to both understand the content of the entire image, as well as produce a plausible hypothesis for the missing part(s). When training context encoders, we have experimented with both a standard pixel-wise reconstruction loss, as well as a reconstruction plus an adversarial loss. The latter produces much sharper results because it can better handle multiple modes in the output. We found that a context encoder learns a representation that captures not just appearance but also the semantics of visual structures. We quantitatively demonstrate the effectiveness of our learned features for CNN pre-training on classification, detection, and segmentation tasks. Furthermore, context encoders can be used for semantic inpainting tasks, either stand-alone or as initialization for non-parametric methods.

Tinghui Zhou, Philipp Krähenbühl, Mathieu Aubry et al.

Discriminative deep learning approaches have shown impressive results for problems where human-labeled ground truth is plentiful, but what about tasks where labels are difficult or impossible to obtain? This paper tackles one such problem: establishing dense visual correspondence across different object instances. For this task, although we do not know what the ground-truth is, we know it should be consistent across instances of that category. We exploit this consistency as a supervisory signal to train a convolutional neural network to predict cross-instance correspondences between pairs of images depicting objects of the same category. For each pair of training images we find an appropriate 3D CAD model and render two synthetic views to link in with the pair, establishing a correspondence flow 4-cycle. We use ground-truth synthetic-to-synthetic correspondences, provided by the rendering engine, to train a ConvNet to predict synthetic-to-real, real-to-real and real-to-synthetic correspondences that are cycle-consistent with the ground-truth. At test time, no CAD models are required. We demonstrate that our end-to-end trained ConvNet supervised by cycle-consistency outperforms state-of-the-art pairwise matching methods in correspondence-related tasks.

Deepak Pathak, Philipp Krähenbühl, Stella X. Yu et al.

Convolutional Neural Networks (CNNs) have recently emerged as the dominant model in computer vision. If provided with enough training data, they predict almost any visual quantity. In a discrete setting, such as classification, CNNs are not only able to predict a label but often predict a confidence in the form of a probability distribution over the output space. In continuous regression tasks, such a probability estimate is often lacking. We present a regression framework which models the output distribution of neural networks. This output distribution allows us to infer the most likely labeling following a set of physical or modeling constraints. These constraints capture the intricate interplay between different input and output variables, and complement the output of a CNN. However, they may not hold everywhere. Our setup further allows to learn a confidence with which a constraint holds, in the form of a distribution of the constrain satisfaction. We evaluate our approach on the problem of intrinsic image decomposition, and show that constrained structured regression significantly increases the state-of-the-art.

Philipp Krähenbühl, Carl Doersch, Jeff Donahue et al.

Convolutional Neural Networks spread through computer vision like a wildfire, impacting almost all visual tasks imaginable. Despite this, few researchers dare to train their models from scratch. Most work builds on one of a handful of ImageNet pre-trained models, and fine-tunes or adapts these for specific tasks. This is in large part due to the difficulty of properly initializing these networks from scratch. A small miscalibration of the initial weights leads to vanishing or exploding gradients, as well as poor convergence properties. In this work we present a fast and simple data-dependent initialization procedure, that sets the weights of a network such that all units in the network train at roughly the same rate, avoiding vanishing or exploding gradients. Our initialization matches the current state-of-the-art unsupervised or self-supervised pre-training methods on standard computer vision tasks, such as image classification and object detection, while being roughly three orders of magnitude faster. When combined with pre-training methods, our initialization significantly outperforms prior work, narrowing the gap between supervised and unsupervised pre-training.

Shiry Ginosar, Kate Rakelly, Sarah Sachs et al.

Imagery offers a rich description of our world and communicates a volume and type of information that cannot be captured by text alone. Since the invention of the camera, an ever-increasing number of photographs document our "visual culture" complementing historical texts. But currently, this treasure trove of knowledge can only be analyzed manually by historians, and only at small scale. In this paper we perform automated analysis on a large-scale historical image dataset. Our main contributions are: 1) A publicly-available dataset of 168,055 (37,921 frontal-facing) American high school yearbook portraits. 2) Weakly-supervised data-driven techniques to discover historical visual trends in fashion and identify date-specific visual patterns. 3) A classifier to predict when a portrait was taken, with median error of 4 years for women and 6 for men. 4) A new method for discovering and displaying the visual elements used by the CNN-based date-prediction model to date portraits, finding that they correspond to the tell-tale fashions of each era. Project page can be found at: http://people.eecs.berkeley.edu/~shiry/projects/yearbooks/yearbooks.html .