Qiao Gu

Qiao Gu, Brian Okorn, David Held

Real-time object pose estimation is necessary for many robot manipulation algorithms. However, state-of-the-art methods for object pose estimation are trained for a specific set of objects; these methods thus need to be retrained to estimate the pose of each new object, often requiring tens of GPU-days of training for optimal performance. In this paper, we propose the OSSID framework, leveraging a slow zero-shot pose estimator to self-supervise the training of a fast detection algorithm. This fast detector can then be used to filter the input to the pose estimator, drastically improving its inference speed. We show that this self-supervised training exceeds the performance of existing zero-shot detection methods on two widely used object pose estimation and detection datasets, without requiring any human annotations. Further, we show that the resulting method for pose estimation has a significantly faster inference speed, due to the ability to filter out large parts of the image. Thus, our method for self-supervised online learning of a detector (trained using pseudo-labels from a slow pose estimator) leads to accurate pose estimation at real-time speeds, without requiring human annotations. Supplementary materials and code can be found at https://georgegu1997.github.io/OSSID/

Brian Okorn, Qiao Gu, Martial Hebert et al.

Pose estimation is a basic module in many robot manipulation pipelines. Estimating the pose of objects in the environment can be useful for grasping, motion planning, or manipulation. However, current state-of-the-art methods for pose estimation either rely on large annotated training sets or simulated data. Further, the long training times for these methods prohibit quick interaction with novel objects. To address these issues, we introduce a novel method for zero-shot object pose estimation in clutter. Our approach uses a hypothesis generation and scoring framework, with a focus on learning a scoring function that generalizes to objects not used for training. We achieve zero-shot generalization by rating hypotheses as a function of unordered point differences. We evaluate our method on challenging datasets with both textured and untextured objects in cluttered scenes and demonstrate that our method significantly outperforms previous methods on this task. We also demonstrate how our system can be used by quickly scanning and building a model of a novel object, which can immediately be used by our method for pose estimation. Our work allows users to estimate the pose of novel objects without requiring any retraining. Additional information can be found on our website https://bokorn.github.io/zephyr/

Xuanwu Yue, Qiao Gu, Deyun Wang et al.

The model-based investing using financial factors is evolving as a principal method for quantitative investment. The main challenge lies in the selection of effective factors towards excess market returns. Existing approaches, either hand-picking factors or applying feature selection algorithms, do not orchestrate both human knowledge and computational power. This paper presents iQUANT, an interactive quantitative investment system that assists equity traders to quickly spot promising financial factors from initial recommendations suggested by algorithmic models, and conduct a joint refinement of factors and stocks for investment portfolio composition. We work closely with professional traders to assemble empirical characteristics of "good" factors and propose effective visualization designs to illustrate the collective performance of financial factors, stock portfolios, and their interactions. We evaluate iQUANT through a formal user study, two case studies, and expert interviews, using a real stock market dataset consisting of 3000 stocks times 6000 days times 56 factors.

Yanan Sun, Guanzhi Wang, Qiao Gu et al.

Despite the significant progress made by deep learning in natural image matting, there has been so far no representative work on deep learning for video matting due to the inherent technical challenges in reasoning temporal domain and lack of large-scale video matting datasets. In this paper, we propose a deep learning-based video matting framework which employs a novel and effective spatio-temporal feature aggregation module (ST-FAM). As optical flow estimation can be very unreliable within matting regions, ST-FAM is designed to effectively align and aggregate information across different spatial scales and temporal frames within the network decoder. To eliminate frame-by-frame trimap annotations, a lightweight interactive trimap propagation network is also introduced. The other contribution consists of a large-scale video matting dataset with groundtruth alpha mattes for quantitative evaluation and real-world high-resolution videos with trimaps for qualitative evaluation. Quantitative and qualitative experimental results show that our framework significantly outperforms conventional video matting and deep image matting methods applied to video in presence of multi-frame temporal information.

Qiao Gu, Guanzhi Wang, Mang Tik Chiu et al.

We propose a local adversarial disentangling network (LADN) for facial makeup and de-makeup. Central to our method are multiple and overlapping local adversarial discriminators in a content-style disentangling network for achieving local detail transfer between facial images, with the use of asymmetric loss functions for dramatic makeup styles with high-frequency details. Existing techniques do not demonstrate or fail to transfer high-frequency details in a global adversarial setting, or train a single local discriminator only to ensure image structure consistency and thus work only for relatively simple styles. Unlike others, our proposed local adversarial discriminators can distinguish whether the generated local image details are consistent with the corresponding regions in the given reference image in cross-image style transfer in an unsupervised setting. Incorporating these technical contributions, we achieve not only state-of-the-art results on conventional styles but also novel results involving complex and dramatic styles with high-frequency details covering large areas across multiple facial features. A carefully designed dataset of unpaired before and after makeup images is released.