Xiang Yu

Mateusz Michalkiewicz, Masoud Faraki, Xiang Yu et al.

Overfitting to the source domain is a common issue in gradient-based training of deep neural networks. To compensate for the over-parameterized models, numerous regularization techniques have been introduced such as those based on dropout. While these methods achieve significant improvements on classical benchmarks such as ImageNet, their performance diminishes with the introduction of domain shift in the test set i.e. when the unseen data comes from a significantly different distribution. In this paper, we move away from the classical approach of Bernoulli sampled dropout mask construction and propose to base the selection on gradient-signal-to-noise ratio (GSNR) of network's parameters. Specifically, at each training step, parameters with high GSNR will be discarded. Furthermore, we alleviate the burden of manually searching for the optimal dropout ratio by leveraging a meta-learning approach. We evaluate our method on standard domain generalization benchmarks and achieve competitive results on classification and face anti-spoofing problems.

Hongyu Li, Mingxi Jia, Tuluhan Akbulut et al.

Humans naturally integrate vision and haptics for robust object perception during manipulation. The loss of either modality significantly degrades performance. Inspired by this multisensory integration, prior object pose estimation research has attempted to combine visual and haptic/tactile feedback. Although these works demonstrate improvements in controlled environments or synthetic datasets, they often underperform vision-only approaches in real-world settings due to poor generalization across diverse grippers, sensor layouts, or sim-to-real environments. Furthermore, they typically estimate the object pose for each frame independently, resulting in less coherent tracking over sequences in real-world deployments. To address these limitations, we introduce a novel unified haptic representation that effectively handles multiple gripper embodiments. Building on this representation, we introduce a new visuo-haptic transformer-based object pose tracker that seamlessly integrates visual and haptic input. We validate our framework in our dataset and the Feelsight dataset, demonstrating significant performance improvement on challenging sequences. Notably, our method achieves superior generalization and robustness across novel embodiments, objects, and sensor types (both taxel-based and vision-based tactile sensors). In real-world experiments, we demonstrate that our approach outperforms state-of-the-art visual trackers by a large margin. We further show that we can achieve precise manipulation tasks by incorporating our real-time object tracking result into motion plans, underscoring the advantages of visuo-haptic perception. Project website: https://ivl.cs.brown.edu/research/v-hop

Jikai Wang, Qifan Zhang, Yu-Wei Chao et al.

We introduce a data capture system and a new dataset, HO-Cap, for 3D reconstruction and pose tracking of hands and objects in videos. The system leverages multiple RGBD cameras and a HoloLens headset for data collection, avoiding the use of expensive 3D scanners or mocap systems. We propose a semi-automatic method for annotating the shape and pose of hands and objects in the collected videos, significantly reducing the annotation time compared to manual labeling. With this system, we captured a video dataset of humans interacting with objects to perform various tasks, including simple pick-and-place actions, handovers between hands, and using objects according to their affordance, which can serve as human demonstrations for research in embodied AI and robot manipulation. Our data capture setup and annotation framework will be available for the community to use in reconstructing 3D shapes of objects and human hands and tracking their poses in videos.

Donghyun Kim, Yi-Hsuan Tsai, Bingbing Zhuang et al.

Learning transferable and domain adaptive feature representations from videos is important for video-relevant tasks such as action recognition. Existing video domain adaptation methods mainly rely on adversarial feature alignment, which has been derived from the RGB image space. However, video data is usually associated with multi-modal information, e.g., RGB and optical flow, and thus it remains a challenge to design a better method that considers the cross-modal inputs under the cross-domain adaptation setting. To this end, we propose a unified framework for video domain adaptation, which simultaneously regularizes cross-modal and cross-domain feature representations. Specifically, we treat each modality in a domain as a view and leverage the contrastive learning technique with properly designed sampling strategies. As a result, our objectives regularize feature spaces, which originally lack the connection across modalities or have less alignment across domains. We conduct experiments on domain adaptive action recognition benchmark datasets, i.e., UCF, HMDB, and EPIC-Kitchens, and demonstrate the effectiveness of our components against state-of-the-art algorithms.

Yuqing Zhu, Xiang Yu, Yi-Hsuan Tsai et al.

Differentially Private Federated Learning (DPFL) is an emerging field with many applications. Gradient averaging based DPFL methods require costly communication rounds and hardly work with large-capacity models, due to the explicit dimension dependence in its added noise. In this work, inspired by knowledge transfer non-federated privacy learning from Papernot et al.(2017; 2018), we design two new DPFL schemes, by voting among the data labels returned from each local model, instead of averaging the gradients, which avoids the dimension dependence and significantly reduces the communication cost. Theoretically, by applying secure multi-party computation, we could exponentially amplify the (data-dependent) privacy guarantees when the margin of the voting scores are large. Extensive experiments show that our approaches significantly improve the privacy-utility trade-off over the state-of-the-arts in DPFL.

Lirui Wang, Yu Xiang, Wei Yang et al.

6D robotic grasping beyond top-down bin-picking scenarios is a challenging task. Previous solutions based on 6D grasp synthesis with robot motion planning usually operate in an open-loop setting, which are sensitive to grasp synthesis errors. In this work, we propose a new method for learning closed-loop control policies for 6D grasping. Our policy takes a segmented point cloud of an object from an egocentric camera as input, and outputs continuous 6D control actions of the robot gripper for grasping the object. We combine imitation learning and reinforcement learning and introduce a goal-auxiliary actor-critic algorithm for policy learning. We demonstrate that our learned policy can be integrated into a tabletop 6D grasping system and a human-robot handover system to improve the grasping performance of unseen objects. Our videos and code can be found at https://sites.google.com/view/gaddpg .

Xinran Wang, Yu Xiang, Jun Gao et al.

In this work, we propose information laundering, a novel framework for enhancing model privacy. Unlike data privacy that concerns the protection of raw data information, model privacy aims to protect an already-learned model that is to be deployed for public use. The private model can be obtained from general learning methods, and its deployment means that it will return a deterministic or random response for a given input query. An information-laundered model consists of probabilistic components that deliberately maneuver the intended input and output for queries to the model, so the model's adversarial acquisition is less likely. Under the proposed framework, we develop an information-theoretic principle to quantify the fundamental tradeoffs between model utility and privacy leakage and derive the optimal design.

Yu Xiang, Christopher Xie, Arsalan Mousavian et al.

Segmenting unseen objects in cluttered scenes is an important skill that robots need to acquire in order to perform tasks in new environments. In this work, we propose a new method for unseen object instance segmentation by learning RGB-D feature embeddings from synthetic data. A metric learning loss function is utilized to learn to produce pixel-wise feature embeddings such that pixels from the same object are close to each other and pixels from different objects are separated in the embedding space. With the learned feature embeddings, a mean shift clustering algorithm can be applied to discover and segment unseen objects. We further improve the segmentation accuracy with a new two-stage clustering algorithm. Our method demonstrates that non-photorealistic synthetic RGB and depth images can be used to learn feature embeddings that transfer well to real-world images for unseen object instance segmentation.

Christopher Xie, Yu Xiang, Arsalan Mousavian et al.

In order to function in unstructured environments, robots need the ability to recognize unseen objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However, the type of large-scale real-world dataset required for this task typically does not exist for most robotic settings, which motivates the use of synthetic data. Our proposed method, UOIS-Net, separately leverages synthetic RGB and synthetic depth for unseen object instance segmentation. UOIS-Net is comprised of two stages: first, it operates only on depth to produce object instance center votes in 2D or 3D and assembles them into rough initial masks. Secondly, these initial masks are refined using RGB. Surprisingly, our framework is able to learn from synthetic RGB-D data where the RGB is non-photorealistic. To train our method, we introduce a large-scale synthetic dataset of random objects on tabletops. We show that our method can produce sharp and accurate segmentation masks, outperforming state-of-the-art methods on unseen object instance segmentation. We also show that our method can segment unseen objects for robot grasping.

Xiangyun Meng, Nathan Ratliff, Yu Xiang et al.

Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and ambiguity of real world images and mechanical constraints of real robots. We present an intuitive solution to show that by accurately measuring the capability of a local controller, large-scale visual topological navigation can be achieved while being scalable and robust. Our approach achieves state-of-the-art results in trajectory following and planning in large-scale environments. It also generalizes well to real robots and new environments without retraining or finetuning.

Feng-Ju Chang, Xiang Yu, Ram Nevatia et al.

We address the challenging problem of generating facial attributes using a single image in an unconstrained pose. In contrast to prior works that largely consider generation on 2D near-frontal images, we propose a GAN-based framework to generate attributes directly on a dense 3D representation given by UV texture and position maps, resulting in photorealistic, geometrically-consistent and identity-preserving outputs. Starting from a self-occluded UV texture map obtained by applying an off-the-shelf 3D reconstruction method, we propose two novel components. First, a texture completion generative adversarial network (TC-GAN) completes the partial UV texture map. Second, a 3D attribute generation GAN (3DA-GAN) synthesizes the target attribute while obtaining an appearance consistent with 3D face geometry and preserving identity. Extensive experiments on CelebA, LFW and IJB-A show that our method achieves consistently better attribute generation accuracy than prior methods, a higher degree of qualitative photorealism and preserves face identity information.

Agnieszka Falenska, Anders Björkelund, Xiang Yu et al.

This paper presents the IMS contribution to the PolEval 2018 Shared Task. We submitted systems for both of the Subtasks of Task 1. In Subtask (A), which was about dependency parsing, we used our ensemble system from the CoNLL 2017 UD Shared Task. The system first preprocesses the sentences with a CRF POS/morphological tagger and predicts supertags with a neural tagger. Then, it employs multiple instances of three different parsers and merges their outputs by applying blending. The system achieved the second place out of four participating teams. In this paper we show which components of the system were the most responsible for its final performance. The goal of Subtask (B) was to predict enhanced graphs. Our approach consisted of two steps: parsing the sentences with our ensemble system from Subtask (A), and applying 12 simple rules to obtain the final dependency graphs. The rules introduce additional enhanced arcs only for tokens with "conj" heads (conjuncts). They do not predict semantic relations at all. The system ranked first out of three participating teams. In this paper we show examples of rules we designed and analyze the relation between the quality of automatically parsed trees and the accuracy of the enhanced graphs.

Matthias Blohm, Glorianna Jagfeld, Ekta Sood et al.

We propose a machine reading comprehension model based on the compare-aggregate framework with two-staged attention that achieves state-of-the-art results on the MovieQA question answering dataset. To investigate the limitations of our model as well as the behavioral difference between convolutional and recurrent neural networks, we generate adversarial examples to confuse the model and compare to human performance. Furthermore, we assess the generalizability of our model by analyzing its differences to human inference,

Yi Li, Gu Wang, Xiangyang Ji et al.

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images of an object against the observed image can produce accurate results. In this work, we propose a novel deep neural network for 6D pose matching named DeepIM. Given an initial pose estimation, our network is able to iteratively refine the pose by matching the rendered image against the observed image. The network is trained to predict a relative pose transformation using an untangled representation of 3D location and 3D orientation and an iterative training process. Experiments on two commonly used benchmarks for 6D pose estimation demonstrate that DeepIM achieves large improvements over state-of-the-art methods. We furthermore show that DeepIM is able to match previously unseen objects.

Kuan Fang, Yu Xiang, Xiaocheng Li et al.

The main challenge of online multi-object tracking is to reliably associate object trajectories with detections in each video frame based on their tracking history. In this work, we propose the Recurrent Autoregressive Network (RAN), a temporal generative modeling framework to characterize the appearance and motion dynamics of multiple objects over time. The RAN couples an external memory and an internal memory. The external memory explicitly stores previous inputs of each trajectory in a time window, while the internal memory learns to summarize long-term tracking history and associate detections by processing the external memory. We conduct experiments on the MOT 2015 and 2016 datasets to demonstrate the robustness of our tracking method in highly crowded and occluded scenes. Our method achieves top-ranked results on the two benchmarks.

Yu Xiang, Tanner Schmidt, Venkatraman Narayanan et al.

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects. In this work, we introduce PoseCNN, a new Convolutional Neural Network for 6D object pose estimation. PoseCNN estimates the 3D translation of an object by localizing its center in the image and predicting its distance from the camera. The 3D rotation of the object is estimated by regressing to a quaternion representation. We also introduce a novel loss function that enables PoseCNN to handle symmetric objects. In addition, we contribute a large scale video dataset for 6D object pose estimation named the YCB-Video dataset. Our dataset provides accurate 6D poses of 21 objects from the YCB dataset observed in 92 videos with 133,827 frames. We conduct extensive experiments on our YCB-Video dataset and the OccludedLINEMOD dataset to show that PoseCNN is highly robust to occlusions, can handle symmetric objects, and provide accurate pose estimation using only color images as input. When using depth data to further refine the poses, our approach achieves state-of-the-art results on the challenging OccludedLINEMOD dataset. Our code and dataset are available at https://rse-lab.cs.washington.edu/projects/posecnn/.

Xiang Yu, Agnieszka Faleńska, Ngoc Thang Vu

We present a general-purpose tagger based on convolutional neural networks (CNN), used for both composing word vectors and encoding context information. The CNN tagger is robust across different tagging tasks: without task-specific tuning of hyper-parameters, it achieves state-of-the-art results in part-of-speech tagging, morphological tagging and supertagging. The CNN tagger is also robust against the out-of-vocabulary problem, it performs well on artificially unnormalized texts.

Xiang Yu, Ngoc Thang Vu

We present a transition-based dependency parser that uses a convolutional neural network to compose word representations from characters. The character composition model shows great improvement over the word-lookup model, especially for parsing agglutinative languages. These improvements are even better than using pre-trained word embeddings from extra data. On the SPMRL data sets, our system outperforms the previous best greedy parser (Ballesteros et al., 2015) by a margin of 3% on average.

Yu Xiang, Dieter Fox

3D scene understanding is important for robots to interact with the 3D world in a meaningful way. Most previous works on 3D scene understanding focus on recognizing geometrical or semantic properties of the scene independently. In this work, we introduce Data Associated Recurrent Neural Networks (DA-RNNs), a novel framework for joint 3D scene mapping and semantic labeling. DA-RNNs use a new recurrent neural network architecture for semantic labeling on RGB-D videos. The output of the network is integrated with mapping techniques such as KinectFusion in order to inject semantic information into the reconstructed 3D scene. Experiments conducted on a real world dataset and a synthetic dataset with RGB-D videos demonstrate the ability of our method in semantic 3D scene mapping.

Chi Li, M. Zeeshan Zia, Quoc-Huy Tran et al.

Monocular 3D object parsing is highly desirable in various scenarios including occlusion reasoning and holistic scene interpretation. We present a deep convolutional neural network (CNN) architecture to localize semantic parts in 2D image and 3D space while inferring their visibility states, given a single RGB image. Our key insight is to exploit domain knowledge to regularize the network by deeply supervising its hidden layers, in order to sequentially infer intermediate concepts associated with the final task. To acquire training data in desired quantities with ground truth 3D shape and relevant concepts, we render 3D object CAD models to generate large-scale synthetic data and simulate challenging occlusion configurations between objects. We train the network only on synthetic data and demonstrate state-of-the-art performances on real image benchmarks including an extended version of KITTI, PASCAL VOC, PASCAL3D+ and IKEA for 2D and 3D keypoint localization and instance segmentation. The empirical results substantiate the utility of our deep supervision scheme by demonstrating effective transfer of knowledge from synthetic data to real images, resulting in less overfitting compared to standard end-to-end training.

Yu Xiang, Wongun Choi, Yuanqing Lin et al.

In CNN-based object detection methods, region proposal becomes a bottleneck when objects exhibit significant scale variation, occlusion or truncation. In addition, these methods mainly focus on 2D object detection and cannot estimate detailed properties of objects. In this paper, we propose subcategory-aware CNNs for object detection. We introduce a novel region proposal network that uses subcategory information to guide the proposal generating process, and a new detection network for joint detection and subcategory classification. By using subcategories related to object pose, we achieve state-of-the-art performance on both detection and pose estimation on commonly used benchmarks.

Hyun Oh Song, Yu Xiang, Stefanie Jegelka et al.

Learning the distance metric between pairs of examples is of great importance for learning and visual recognition. With the remarkable success from the state of the art convolutional neural networks, recent works have shown promising results on discriminatively training the networks to learn semantic feature embeddings where similar examples are mapped close to each other and dissimilar examples are mapped farther apart. In this paper, we describe an algorithm for taking full advantage of the training batches in the neural network training by lifting the vector of pairwise distances within the batch to the matrix of pairwise distances. This step enables the algorithm to learn the state of the art feature embedding by optimizing a novel structured prediction objective on the lifted problem. Additionally, we collected Online Products dataset: 120k images of 23k classes of online products for metric learning. Our experiments on the CUB-200-2011, CARS196, and Online Products datasets demonstrate significant improvement over existing deep feature embedding methods on all experimented embedding sizes with the GoogLeNet network.

Roozbeh Mottaghi, Yu Xiang, Silvio Savarese

Despite the fact that object detection, 3D pose estimation, and sub-category recognition are highly correlated tasks, they are usually addressed independently from each other because of the huge space of parameters. To jointly model all of these tasks, we propose a coarse-to-fine hierarchical representation, where each level of the hierarchy represents objects at a different level of granularity. The hierarchical representation prevents performance loss, which is often caused by the increase in the number of parameters (as we consider more tasks to model), and the joint modelling enables resolving ambiguities that exist in independent modelling of these tasks. We augment PASCAL3D+ dataset with annotations for these tasks and show that our hierarchical model is effective in joint modelling of object detection, 3D pose estimation, and sub-category recognition.