Tao Wang

Yingjie Chen, Diqi Chen, Tao Wang et al.

Subject-invariant facial action unit (AU) recognition remains challenging for the reason that the data distribution varies among subjects. In this paper, we propose a causal inference framework for subject-invariant facial action unit recognition. To illustrate the causal effect existing in AU recognition task, we formulate the causalities among facial images, subjects, latent AU semantic relations, and estimated AU occurrence probabilities via a structural causal model. By constructing such a causal diagram, we clarify the causal effect among variables and propose a plug-in causal intervention module, CIS, to deconfound the confounder \emph{Subject} in the causal diagram. Extensive experiments conducted on two commonly used AU benchmark datasets, BP4D and DISFA, show the effectiveness of our CIS, and the model with CIS inserted, CISNet, has achieved state-of-the-art performance.

Zhengyao Wen, Wenzhong Lin, Tao Wang et al.

We present a novel facial expression recognition network, called Distract your Attention Network (DAN). Our method is based on two key observations. Firstly, multiple classes share inherently similar underlying facial appearance, and their differences could be subtle. Secondly, facial expressions exhibit themselves through multiple facial regions simultaneously, and the recognition requires a holistic approach by encoding high-order interactions among local features. To address these issues, we propose our DAN with three key components: Feature Clustering Network (FCN), Multi-head cross Attention Network (MAN), and Attention Fusion Network (AFN). The FCN extracts robust features by adopting a large-margin learning objective to maximize class separability. In addition, the MAN instantiates a number of attention heads to simultaneously attend to multiple facial areas and build attention maps on these regions. Further, the AFN distracts these attentions to multiple locations before fusing the attention maps to a comprehensive one. Extensive experiments on three public datasets (including AffectNet, RAF-DB, and SFEW 2.0) verified that the proposed method consistently achieves state-of-the-art facial expression recognition performance. Code will be made available at https://github.com/yaoing/DAN.

Wenqi Zhang, Kai Zhao, Peng Li et al.

Despite decades of efforts, robot navigation in a real scenario with volatility, uncertainty, complexity, and ambiguity (VUCA for short), remains a challenging topic. Inspired by the central nervous system (CNS), we propose a hierarchical multi-expert learning framework for autonomous navigation in a VUCA environment. With a heuristic exploration mechanism considering target location, path cost, and safety level, the upper layer performs simultaneous map exploration and route-planning to avoid trapping in a blind alley, similar to the cerebrum in the CNS. Using a local adaptive model fusing multiple discrepant strategies, the lower layer pursuits a balance between collision-avoidance and go-straight strategies, acting as the cerebellum in the CNS. We conduct simulation and real-world experiments on multiple platforms, including legged and wheeled robots. Experimental results demonstrate our algorithm outperforms the existing methods in terms of task achievement, time efficiency, and security.