Semantic segmentation is a key prerequisite to robust image understanding for applications in \acrlong{ai} and Robotics. \acrlong{fss}, in particular, concerns the extension and optimization of traditional segmentation methods in challenging conditions where limited training examples are available. A predominant approach in \acrlong{fss} is to rely on a single backbone for visual feature extraction. Choosing which backbone to leverage is a deciding factor contributing to the overall performance. In this work, we interrogate on whether fusing features from different backbones can improve the ability of \acrlong{fss} models to capture richer visual features. To tackle this question, we propose and compare two ensembling techniques-Independent Voting and Feature Fusion. Among the available \acrlong{fss} methods, we implement the proposed ensembling techniques on PANet. The module dedicated to predicting segmentation masks from the backbone embeddings in PANet avoids trainable parameters, creating a controlled `in vitro' setting for isolating the impact of different ensembling strategies. Leveraging the complementary strengths of different backbones, our approach outperforms the original single-backbone PANet across standard benchmarks even in challenging one-shot learning scenarios. Specifically, it achieved a performance improvement of +7.37\% on PASCAL-5\textsuperscript{i} and of +10.68\% on COCO-20\textsuperscript{i} in the top-performing scenario where three backbones are combined. These results, together with the qualitative inspection of the predicted subject masks, suggest that relying on multiple backbones in PANet leads to a more comprehensive feature representation, thus expediting the successful application of \acrlong{fss} methods in challenging, data-scarce environments.
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We introduce DragAPart, a method that, given an image and a set of drags as input, can generate a new image of the same object in a new state, compatible with the action of the drags. Differently from prior works that focused on repositioning objects, DragAPart predicts part-level interactions, such as opening and closing a drawer. We study this problem as a proxy for learning a generalist motion model, not restricted to a specific kinematic structure or object category. To this end, we start from a pre-trained image generator and fine-tune it on a new synthetic dataset, Drag-a-Move, which we introduce. Combined with a new encoding for the drags and dataset randomization, the new model generalizes well to real images and different categories. Compared to prior motion-controlled generators, we demonstrate much better part-level motion understanding.
Core computations in Graph Neural Network (GNN) training and inference are often mapped to sparse matrix operations such as sparse-dense matrix multiplication (SpMM). These sparse operations are harder to optimize by manual tuning because their performance depends significantly on the sparsity of input graphs, GNN models, and computing platforms. To address this challenge, we present iSpLib, a PyTorch-based C++ library equipped with auto-tuned sparse operations. iSpLib expedites GNN training with a cache-enabled backpropagation that stores intermediate matrices in local caches. The library offers a user-friendly Python plug-in that allows users to take advantage of our optimized PyTorch operations out-of-the-box for any existing linear algebra-based PyTorch implementation of popular GNNs (Graph Convolution Network, GraphSAGE, Graph Inference Network, etc.) with only two lines of additional code. We demonstrate that iSpLib obtains up to 27x overall training speedup compared to the equivalent PyTorch 2.1.0 and PyTorch Geometric 2.4.0 implementations on the CPU. Our library is publicly available at //github.com/HipGraph/iSpLib (//doi.org/10.5281/zenodo.10806511).
We introduce $r$-loopy Weisfeiler-Leman ($r$-$\ell{}$WL), a novel hierarchy of graph isomorphism tests and a corresponding GNN framework, $r$-$\ell{}$MPNN, that can count cycles up to length $r + 2$. Most notably, we show that $r$-$\ell{}$WL can count homomorphisms of cactus graphs. This strictly extends classical 1-WL, which can only count homomorphisms of trees and, in fact, is incomparable to $k$-WL for any fixed $k$. We empirically validate the expressive and counting power of the proposed $r$-$\ell{}$MPNN on several synthetic datasets and present state-of-the-art predictive performance on various real-world datasets. The code is available at //github.com/RPaolino/loopy
Visual simultaneous localization and mapping (VSLAM) has broad applications, with state-of-the-art methods leveraging deep neural networks for better robustness and applicability. However, there is a lack of research in fusing these learning-based methods with multi-sensor information, which could be indispensable to push related applications to large-scale and complex scenarios. In this paper, we tightly integrate the trainable deep dense bundle adjustment (DBA) with multi-sensor information through a factor graph. In the framework, recurrent optical flow and DBA are performed among sequential images. The Hessian information derived from DBA is fed into a generic factor graph for multi-sensor fusion, which employs a sliding window and supports probabilistic marginalization. A pipeline for visual-inertial integration is firstly developed, which provides the minimum ability of metric-scale localization and mapping. Furthermore, other sensors (e.g., global navigation satellite system) are integrated for driftless and geo-referencing functionality. Extensive tests are conducted on both public datasets and self-collected datasets. The results validate the superior localization performance of our approach, which enables real-time dense mapping in large-scale environments. The code has been made open-source (//github.com/GREAT-WHU/DBA-Fusion).
PyTorch \texttt{2.x} introduces a compiler designed to accelerate deep learning programs. However, for machine learning researchers, adapting to the PyTorch compiler to full potential can be challenging. The compiler operates at the Python bytecode level, making it appear as an opaque box. To address this, we introduce \texttt{depyf}, a tool designed to demystify the inner workings of the PyTorch compiler. \texttt{depyf} decompiles bytecode generated by PyTorch back into equivalent source code, and establishes connections between in-memory code objects and their on-disk source code counterparts. This feature enables users to step through the source code line by line using debuggers, thus enhancing their understanding of the underlying processes. Notably, \texttt{depyf} is non-intrusive and user-friendly, primarily relying on two convenient context managers for its core functionality. The project is \href{//github.com/thuml/depyf}{ openly available} and is recognized as a \href{//pytorch.org/ecosystem/}{PyTorch ecosystem project}.
The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.
Object detection is a fundamental task in computer vision and image processing. Current deep learning based object detectors have been highly successful with abundant labeled data. But in real life, it is not guaranteed that each object category has enough labeled samples for training. These large object detectors are easy to overfit when the training data is limited. Therefore, it is necessary to introduce few-shot learning and zero-shot learning into object detection, which can be named low-shot object detection together. Low-Shot Object Detection (LSOD) aims to detect objects from a few or even zero labeled data, which can be categorized into few-shot object detection (FSOD) and zero-shot object detection (ZSD), respectively. This paper conducts a comprehensive survey for deep learning based FSOD and ZSD. First, this survey classifies methods for FSOD and ZSD into different categories and discusses the pros and cons of them. Second, this survey reviews dataset settings and evaluation metrics for FSOD and ZSD, then analyzes the performance of different methods on these benchmarks. Finally, this survey discusses future challenges and promising directions for FSOD and ZSD.
In multi-turn dialog, utterances do not always take the full form of sentences \cite{Carbonell1983DiscoursePA}, which naturally makes understanding the dialog context more difficult. However, it is essential to fully grasp the dialog context to generate a reasonable response. Hence, in this paper, we propose to improve the response generation performance by examining the model's ability to answer a reading comprehension question, where the question is focused on the omitted information in the dialog. Enlightened by the multi-task learning scheme, we propose a joint framework that unifies these two tasks, sharing the same encoder to extract the common and task-invariant features with different decoders to learn task-specific features. To better fusing information from the question and the dialog history in the encoding part, we propose to augment the Transformer architecture with a memory updater, which is designed to selectively store and update the history dialog information so as to support downstream tasks. For the experiment, we employ human annotators to write and examine a large-scale dialog reading comprehension dataset. Extensive experiments are conducted on this dataset, and the results show that the proposed model brings substantial improvements over several strong baselines on both tasks. In this way, we demonstrate that reasoning can indeed help better response generation and vice versa. We release our large-scale dataset for further research.
Visual dialogue is a challenging task that needs to extract implicit information from both visual (image) and textual (dialogue history) contexts. Classical approaches pay more attention to the integration of the current question, vision knowledge and text knowledge, despising the heterogeneous semantic gaps between the cross-modal information. In the meantime, the concatenation operation has become de-facto standard to the cross-modal information fusion, which has a limited ability in information retrieval. In this paper, we propose a novel Knowledge-Bridge Graph Network (KBGN) model by using graph to bridge the cross-modal semantic relations between vision and text knowledge in fine granularity, as well as retrieving required knowledge via an adaptive information selection mode. Moreover, the reasoning clues for visual dialogue can be clearly drawn from intra-modal entities and inter-modal bridges. Experimental results on VisDial v1.0 and VisDial-Q datasets demonstrate that our model outperforms exiting models with state-of-the-art results.
Answering questions that require reading texts in an image is challenging for current models. One key difficulty of this task is that rare, polysemous, and ambiguous words frequently appear in images, e.g., names of places, products, and sports teams. To overcome this difficulty, only resorting to pre-trained word embedding models is far from enough. A desired model should utilize the rich information in multiple modalities of the image to help understand the meaning of scene texts, e.g., the prominent text on a bottle is most likely to be the brand. Following this idea, we propose a novel VQA approach, Multi-Modal Graph Neural Network (MM-GNN). It first represents an image as a graph consisting of three sub-graphs, depicting visual, semantic, and numeric modalities respectively. Then, we introduce three aggregators which guide the message passing from one graph to another to utilize the contexts in various modalities, so as to refine the features of nodes. The updated nodes have better features for the downstream question answering module. Experimental evaluations show that our MM-GNN represents the scene texts better and obviously facilitates the performances on two VQA tasks that require reading scene texts.
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