Yongjin Kwon

Moon Ye-Bin, Dongmin Choi, Yongjin Kwon et al.

We address a weakly-supervised low-shot instance segmentation, an annotation-efficient training method to deal with novel classes effectively. Since it is an under-explored problem, we first investigate the difficulty of the problem and identify the performance bottleneck by conducting systematic analyses of model components and individual sub-tasks with a simple baseline model. Based on the analyses, we propose ENInst with sub-task enhancement methods: instance-wise mask refinement for enhancing pixel localization quality and novel classifier composition for improving classification accuracy. Our proposed method lifts the overall performance by enhancing the performance of each sub-task. We demonstrate that our ENInst is 7.5 times more efficient in achieving comparable performance to the existing fully-supervised few-shot models and even outperforms them at times.

Kim Yu-Ji, Dahye Lee, Kim Jun-Seong et al.

We present GaussExplorer, a framework for embodied exploration and reasoning built on 3D Gaussian Splatting (3DGS). While prior approaches to language-embedded 3DGS have made meaningful progress in aligning simple text queries with Gaussian embeddings, they are generally optimized for relatively simple queries and struggle to interpret more complex, compositional language queries. Alternative studies based on object-centric RGB-D structured memories provide spatial grounding but are constrained by pre-fixed viewpoints. To address these issues, GaussExplorer introduces Vision-Language Models (VLMs) on top of 3DGS to enable question-driven exploration and reasoning within 3D scenes. We first identify pre-captured images that are most correlated with the query question, and subsequently adjust them into novel viewpoints to more accurately capture visual information for better reasoning by VLMs. Experiments show that ours outperforms existing methods on several benchmarks, demonstrating the effectiveness of integrating VLM-based reasoning with 3DGS for embodied tasks.

Youngwan Lee, Joong-won Hwang, Hyung-Il Kim et al.

Since many safety-critical systems, such as surgical robots and autonomous driving cars operate in unstable environments with sensor noise and incomplete data, it is desirable for object detectors to take the localization uncertainty into account. However, there are several limitations of the existing uncertainty estimation methods for anchor-based object detection. 1) They model the uncertainty of the heterogeneous object properties with different characteristics and scales, such as location (center point) and scale (width, height), which could be difficult to estimate. 2) They model box offsets as Gaussian distributions, which is not compatible with the ground truth bounding boxes that follow the Dirac delta distribution. 3) Since anchor-based methods are sensitive to anchor hyper-parameters, their localization uncertainty could also be highly sensitive to the choice of hyper-parameters. To tackle these limitations, we propose a new localization uncertainty estimation method called UAD for anchor-free object detection. Our method captures the uncertainty in four directions of box offsets (left, right, top, bottom) that are homogeneous, so that it can tell which direction is uncertain, and provide a quantitative value of uncertainty in [0, 1]. To enable such uncertainty estimation, we design a new uncertainty loss, negative power log-likelihood loss, to measure the localization uncertainty by weighting the likelihood loss by its IoU, which alleviates the model misspecification problem. Furthermore, we propose an uncertainty-aware focal loss for reflecting the estimated uncertainty to the classification score. Experimental results on COCO datasets demonstrate that our method significantly improves FCOS, by up to 1.8 points, without sacrificing computational efficiency.