Yi Li

Yi Li, Hualiang Wang, Yiqun Duan et al.

Contrastive language-image pre-training (CLIP) is a powerful vision-language model that has shown great benefits for various tasks. However, we have identified some issues with its explainability, which undermine its credibility and limit the capacity for related tasks. Specifically, we find that CLIP tends to focus on background regions rather than foregrounds, with noisy activations at irrelevant positions on the visualization results. These phenomena conflict with conventional explainability methods based on the class attention map (CAM), where the raw model can highlight the local foreground regions using global supervision without alignment. To address these problems, we take a closer look at its architecture and features. Based on thorough analyses, we find the raw self-attentions link to inconsistent semantic regions, resulting in the opposite visualization. Besides, the noisy activations are owing to redundant features among categories. Building on these insights, we propose the CLIP Surgery for reliable CAM, a method that allows surgery-like modifications to the inference architecture and features, without further fine-tuning as classical CAM methods. This approach significantly improves the explainability of CLIP, surpassing existing methods by large margins. Besides, it enables multimodal visualization and extends the capacity of raw CLIP on open-vocabulary tasks without extra alignment. The code is available at https://github.com/xmed-lab/CLIP_Surgery.

Weikang Wan, Haoran Geng, Yun Liu et al. · berkeley

We propose a novel, object-agnostic method for learning a universal policy for dexterous object grasping from realistic point cloud observations and proprioceptive information under a table-top setting, namely UniDexGrasp++. To address the challenge of learning the vision-based policy across thousands of object instances, we propose Geometry-aware Curriculum Learning (GeoCurriculum) and Geometry-aware iterative Generalist-Specialist Learning (GiGSL) which leverage the geometry feature of the task and significantly improve the generalizability. With our proposed techniques, our final policy shows universal dexterous grasping on thousands of object instances with 85.4% and 78.2% success rate on the train set and test set which outperforms the state-of-the-art baseline UniDexGrasp by 11.7% and 11.3%, respectively.

Yi Li, Kyle Min, Subarna Tripathi et al.

Do video-text transformers learn to model temporal relationships across frames? Despite their immense capacity and the abundance of multimodal training data, recent work has revealed the strong tendency of video-text models towards frame-based spatial representations, while temporal reasoning remains largely unsolved. In this work, we identify several key challenges in temporal learning of video-text transformers: the spatiotemporal trade-off from limited network size; the curse of dimensionality for multi-frame modeling; and the diminishing returns of semantic information by extending clip length. Guided by these findings, we propose SViTT, a sparse video-text architecture that performs multi-frame reasoning with significantly lower cost than naive transformers with dense attention. Analogous to graph-based networks, SViTT employs two forms of sparsity: edge sparsity that limits the query-key communications between tokens in self-attention, and node sparsity that discards uninformative visual tokens. Trained with a curriculum which increases model sparsity with the clip length, SViTT outperforms dense transformer baselines on multiple video-text retrieval and question answering benchmarks, with a fraction of computational cost. Project page: http://svcl.ucsd.edu/projects/svitt.

Tianchen Zhao, Niansong Zhang, Xuefei Ning et al. · tsinghua

Transformers have gained much attention by outperforming convolutional neural networks in many 2D vision tasks. However, they are known to have generalization problems and rely on massive-scale pre-training and sophisticated training techniques. When applying to 3D tasks, the irregular data structure and limited data scale add to the difficulty of transformer's application. We propose CodedVTR (Codebook-based Voxel TRansformer), which improves data efficiency and generalization ability for 3D sparse voxel transformers. On the one hand, we propose the codebook-based attention that projects an attention space into its subspace represented by the combination of "prototypes" in a learnable codebook. It regularizes attention learning and improves generalization. On the other hand, we propose geometry-aware self-attention that utilizes geometric information (geometric pattern, density) to guide attention learning. CodedVTR could be embedded into existing sparse convolution-based methods, and bring consistent performance improvements for indoor and outdoor 3D semantic segmentation tasks

Xueyi Liu, Xiaomeng Xu, Anyi Rao et al.

Training a generalizable 3D part segmentation network is quite challenging but of great importance in real-world applications. To tackle this problem, some works design task-specific solutions by translating human understanding of the task to machine's learning process, which faces the risk of missing the optimal strategy since machines do not necessarily understand in the exact human way. Others try to use conventional task-agnostic approaches designed for domain generalization problems with no task prior knowledge considered. To solve the above issues, we propose AutoGPart, a generic method enabling training generalizable 3D part segmentation networks with the task prior considered. AutoGPart builds a supervision space with geometric prior knowledge encoded, and lets the machine to search for the optimal supervisions from the space for a specific segmentation task automatically. Extensive experiments on three generalizable 3D part segmentation tasks are conducted to demonstrate the effectiveness and versatility of AutoGPart. We demonstrate that the performance of segmentation networks using simple backbones can be significantly improved when trained with supervisions searched by our method.

Yingdong Hu, Fanqi Lin, Tong Zhang et al.

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in reasoning and planning. However, LLMs are constrained by their lack of world grounding and dependence on external affordance models to perceive environmental information, which cannot jointly reason with LLMs. We argue that a task planner should be an inherently grounded, unified multimodal system. To this end, we introduce Robotic Vision-Language Planning (ViLa), a novel approach for long-horizon robotic planning that leverages vision-language models (VLMs) to generate a sequence of actionable steps. ViLa directly integrates perceptual data into its reasoning and planning process, enabling a profound understanding of commonsense knowledge in the visual world, including spatial layouts and object attributes. It also supports flexible multimodal goal specification and naturally incorporates visual feedback. Our extensive evaluation, conducted in both real-robot and simulated environments, demonstrates ViLa's superiority over existing LLM-based planners, highlighting its effectiveness in a wide array of open-world manipulation tasks.

Tan Yu, Jie Liu, Yi Yang et al. · baidu

The advancement of the communication technology and the popularity of the smart phones foster the booming of video ads. Baidu, as one of the leading search engine companies in the world, receives billions of search queries per day. How to pair the video ads with the user search is the core task of Baidu video advertising. Due to the modality gap, the query-to-video retrieval is much more challenging than traditional query-to-document retrieval and image-to-image search. Traditionally, the query-to-video retrieval is tackled by the query-to-title retrieval, which is not reliable when the quality of tiles are not high. With the rapid progress achieved in computer vision and natural language processing in recent years, content-based search methods becomes promising for the query-to-video retrieval. Benefited from pretraining on large-scale datasets, some visionBERT methods based on cross-modal attention have achieved excellent performance in many vision-language tasks not only in academia but also in industry. Nevertheless, the expensive computation cost of cross-modal attention makes it impractical for large-scale search in industrial applications. In this work, we present a tree-based combo-attention network (TCAN) which has been recently launched in Baidu's dynamic video advertising platform. It provides a practical solution to deploy the heavy cross-modal attention for the large-scale query-to-video search. After launching tree-based combo-attention network, click-through rate gets improved by 2.29\% and conversion rate get improved by 2.63\%.

Yi Li, Yiqun Duan, Zhanghui Kuang et al.

Weakly-Supervised Semantic Segmentation (WSSS) segments objects without a heavy burden of dense annotation. While as a price, generated pseudo-masks exist obvious noisy pixels, which result in sub-optimal segmentation models trained over these pseudo-masks. But rare studies notice or work on this problem, even these noisy pixels are inevitable after their improvements on pseudo-mask. So we try to improve WSSS in the aspect of noise mitigation. And we observe that many noisy pixels are of high confidence, especially when the response range is too wide or narrow, presenting an uncertain status. Thus, in this paper, we simulate noisy variations of response by scaling the prediction map multiple times for uncertainty estimation. The uncertainty is then used to weight the segmentation loss to mitigate noisy supervision signals. We call this method URN, abbreviated from Uncertainty estimation via Response scaling for Noise mitigation. Experiments validate the benefits of URN, and our method achieves state-of-the-art results at 71.2% and 41.5% on PASCAL VOC 2012 and MS COCO 2014 respectively, without extra models like saliency detection. Code is available at https://github.com/XMed-Lab/URN.

Yi Li

Lesions characterized by computed tomography (CT) scans, are arguably often elliptical objects. However, current lesion detection systems are predominantly adopted from the popular Region Proposal Networks (RPNs) that only propose bounding boxes without fully leveraging the elliptical geometry of lesions. In this paper, we present Gaussian Proposal Networks (GPNs), a novel extension to RPNs, to detect lesion bounding ellipses. Instead of directly regressing the rotation angle of the ellipse as the common practice, GPN represents bounding ellipses as 2D Gaussian distributions on the image plain and minimizes the Kullback-Leibler (KL) divergence between the proposed Gaussian and the ground truth Gaussian for object localization. We show the KL divergence loss approximately incarnates the regression loss in the RPN framework when the rotation angle is 0. Experiments on the DeepLesion dataset show that GPN significantly outperforms RPN for lesion bounding ellipse detection thanks to lower localization error. GPN is open sourced at https://github.com/baidu-research/GPN

Ling Liu, Jun Tian, Li Yi

4D panoptic segmentation in a streaming setting is critical for highly dynamic environments, such as evacuating dense crowds and autonomous driving in complex scenarios, where real-time, fine-grained perception within a constrained time budget is essential. In this paper, we introduce 4DSegStreamer, a novel framework that employs a Dual-Thread System to efficiently process streaming frames. The framework is general and can be seamlessly integrated into existing 3D and 4D segmentation methods to enable real-time capability. It also demonstrates superior robustness compared to existing streaming perception approaches, particularly under high FPS conditions. The system consists of a predictive thread and an inference thread. The predictive thread leverages historical motion and geometric information to extract features and forecast future dynamics. The inference thread ensures timely prediction for incoming frames by aligning with the latest memory and compensating for ego-motion and dynamic object movements. We evaluate 4DSegStreamer on the indoor HOI4D dataset and the outdoor SemanticKITTI and nuScenes datasets. Comprehensive experiments demonstrate the effectiveness of our approach, particularly in accurately predicting dynamic objects in complex scenes.

Ke Zhan, Shimiao Jiang, Yu Bai et al.

Eltwise layer is a commonly used structure in the multi-branch deep learning network. In a filter-wise pruning procedure, due to the specific operation of the eltwise layer, all its previous convolutional layers should vote for which filters by index should be pruned. Since only an intersection of the voted filters is pruned, the compression rate is limited. This work proposes a method called Directed-Weighting Group Lasso (DWGL), which enforces an index-wise incremental (directed) coefficient on the filterlevel group lasso items, so that the low index filters getting high activation tend to be kept while the high index ones tend to be pruned. When using DWGL, much fewer filters are retained during the voting process and the compression rate can be boosted. The paper test the proposed method on the ResNet series networks. On CIFAR-10, it achieved a 75.34% compression rate on ResNet-56 with a 0.94% error increment, and a 52.06% compression rate on ResNet-20 with a 0.72% error increment. On ImageNet, it achieved a 53% compression rate with ResNet-50 with a 0.6% error increment, speeding up the network by 2.23 times. Furthermore, it achieved a 75% compression rate on ResNet-50 with a 1.2% error increment, speeding up the network by 4 times.

Jifeng Dai, Haozhi Qi, Yuwen Xiong et al.

Convolutional neural networks (CNNs) are inherently limited to model geometric transformations due to the fixed geometric structures in its building modules. In this work, we introduce two new modules to enhance the transformation modeling capacity of CNNs, namely, deformable convolution and deformable RoI pooling. Both are based on the idea of augmenting the spatial sampling locations in the modules with additional offsets and learning the offsets from target tasks, without additional supervision. The new modules can readily replace their plain counterparts in existing CNNs and can be easily trained end-to-end by standard back-propagation, giving rise to deformable convolutional networks. Extensive experiments validate the effectiveness of our approach on sophisticated vision tasks of object detection and semantic segmentation. The code would be released.

Angel X. Chang, Thomas Funkhouser, Leonidas Guibas et al.

We present ShapeNet: a richly-annotated, large-scale repository of shapes represented by 3D CAD models of objects. ShapeNet contains 3D models from a multitude of semantic categories and organizes them under the WordNet taxonomy. It is a collection of datasets providing many semantic annotations for each 3D model such as consistent rigid alignments, parts and bilateral symmetry planes, physical sizes, keywords, as well as other planned annotations. Annotations are made available through a public web-based interface to enable data visualization of object attributes, promote data-driven geometric analysis, and provide a large-scale quantitative benchmark for research in computer graphics and vision. At the time of this technical report, ShapeNet has indexed more than 3,000,000 models, 220,000 models out of which are classified into 3,135 categories (WordNet synsets). In this report we describe the ShapeNet effort as a whole, provide details for all currently available datasets, and summarize future plans.

Aiwen Jiang, Fang Wang, Fatih Porikli et al.

Visual Question Answering (VQA) emerges as one of the most fascinating topics in computer vision recently. Many state of the art methods naively use holistic visual features with language features into a Long Short-Term Memory (LSTM) module, neglecting the sophisticated interaction between them. This coarse modeling also blocks the possibilities of exploring finer-grained local features that contribute to the question answering dynamically over time. This paper addresses this fundamental problem by directly modeling the temporal dynamics between language and all possible local image patches. When traversing the question words sequentially, our end-to-end approach explicitly fuses the features associated to the words and the ones available at multiple local patches in an attention mechanism, and further combines the fused information to generate dynamic messages, which we call episode. We then feed the episodes to a standard question answering module together with the contextual visual information and linguistic information. Motivated by recent practices in deep learning, we use auxiliary loss functions during training to improve the performance. Our experiments on two latest public datasets suggest that our method has a superior performance. Notably, on the DARQUAR dataset we advanced the state of the art by 6$\%$, and we also evaluated our approach on the most recent MSCOCO-VQA dataset.

Yi Li, Yi-Zhe Song, Timothy Hospedales et al.

We present a generative model which can automatically summarize the stroke composition of free-hand sketches of a given category. When our model is fit to a collection of sketches with similar poses, it discovers and learns the structure and appearance of a set of coherent parts, with each part represented by a group of strokes. It represents both consistent (topology) as well as diverse aspects (structure and appearance variations) of each sketch category. Key to the success of our model are important insights learned from a comprehensive study performed on human stroke data. By fitting this model to images, we are able to synthesize visually similar and pleasant free-hand sketches.

Yi Li, Qi Wei, Fei Qiao et al.

Physical computing is a technology utilizing the nature of electronic devices and circuit topology to cope with computing tasks. In this paper, we propose an active circuit network to implement multi-scale Gaussian filter, which is also called Gaussian Pyramid in image preprocessing. Various kinds of methods have been tried to accelerate the key stage in image feature extracting algorithm these years. Compared with existing technologies, GPU parallel computing and FPGA accelerating technology, physical computing has great advantage on processing speed as well as power consumption. We have verified that processing time to implement the Gaussian pyramid of the SIFT algorithm stands on nanosecond level through the physical computing technology, while other existing methods all need at least hundreds of millisecond. With an estimate on the stray capacitance of the circuit, the power consumption is around 670pJ to filter a 256x256 image. To the best of our knowledge, this is the most fast processing technology to accelerate the SIFT algorithm, and it is also a rather energy-efficient method, thanks to the proposed physical computing technology.