Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as automatic cloth handling, cable routing, surgical operation, etc. Perception is considered one of the major challenges in DOM due to the complex dynamics and high degree of freedom of deformable objects. In this paper, we develop a novel image-processing algorithm based on Gabor filters to extract useful features from cloth, and based on this, devise a strategy for cloth flattening tasks. We evaluate the overall framework experimentally, and compare it with three human operators. The results show that our algorithm can determine the direction of wrinkles on the cloth accurately in the simulation as well as the real robot experiments. Besides, the robot executing the flattening tasks using the dewrinkling strategy given by our algorithm achieves satisfying performance compared to other baseline methods. The experiment video is available on //sites.google.com/view/robotic-fabric-flattening/home
Pulse timing is an important topic in nuclear instrumentation, with far-reaching applications from high energy physics to radiation imaging. While high-speed analog-to-digital converters become more and more developed and accessible, their potential uses and merits in nuclear detector signal processing are still uncertain, partially due to associated timing algorithms which are not fully understood and utilized. In this paper, we propose a novel method based on deep learning for timing analysis of modularized nuclear detectors without explicit needs of labelling event data. By taking advantage of the inner time correlation of individual detectors, a label-free loss function with a specially designed regularizer is formed to supervise the training of neural networks towards a meaningful and accurate mapping function. We mathematically demonstrate the existence of the optimal function desired by the method, and give a systematic algorithm for training and calibration of the model. The proposed method is validated on two experimental datasets. In the toy experiment, the neural network model achieves the single-channel time resolution of 8.8 ps and exhibits robustness against concept drift in the dataset. In the electromagnetic calorimeter experiment, several neural network models (FC, CNN and LSTM) are tested to show their conformance to the underlying physical constraint and to judge their performance against traditional methods. In total, the proposed method works well in either ideal or noisy experimental condition and recovers the time information from waveform samples successfully and precisely.
Existing deepfake detectors face several challenges in achieving robustness and generalization. One of the primary reasons is their limited ability to extract relevant information from forgery videos, especially in the presence of various artifacts such as spatial, frequency, temporal, and landmark mismatches. Current detectors rely on pixel-level features that are easily affected by unknown disturbances or facial landmarks that do not provide sufficient information. Furthermore, most detectors cannot utilize information from multiple domains for detection, leading to limited effectiveness in identifying deepfake videos. To address these limitations, we propose a novel framework, namely Multimodal Graph Learning (MGL) that leverages information from multiple modalities using two GNNs and several multimodal fusion modules. At the frame level, we employ a bi-directional cross-modal transformer and an adaptive gating mechanism to combine the features from the spatial and frequency domains with the geometric-enhanced landmark features captured by a GNN. At the video level, we use a Graph Attention Network (GAT) to represent each frame in a video as a node in a graph and encode temporal information into the edges of the graph to extract temporal inconsistency between frames. Our proposed method aims to effectively identify and utilize distinguishing features for deepfake detection. We evaluate the effectiveness of our method through extensive experiments on widely-used benchmarks and demonstrate that our method outperforms the state-of-the-art detectors in terms of generalization ability and robustness against unknown disturbances.
Current 3D object detection models follow a single dataset-specific training and testing paradigm, which often faces a serious detection accuracy drop when they are directly deployed in another dataset. In this paper, we study the task of training a unified 3D detector from multiple datasets. We observe that this appears to be a challenging task, which is mainly due to that these datasets present substantial data-level differences and taxonomy-level variations caused by different LiDAR types and data acquisition standards. Inspired by such observation, we present a Uni3D which leverages a simple data-level correction operation and a designed semantic-level coupling-and-recoupling module to alleviate the unavoidable data-level and taxonomy-level differences, respectively. Our method is simple and easily combined with many 3D object detection baselines such as PV-RCNN and Voxel-RCNN, enabling them to effectively learn from multiple off-the-shelf 3D datasets to obtain more discriminative and generalizable representations. Experiments are conducted on many dataset consolidation settings including Waymo-nuScenes, nuScenes-KITTI, Waymo-KITTI, and Waymo-nuScenes-KITTI consolidations. Their results demonstrate that Uni3D exceeds a series of individual detectors trained on a single dataset, with a 1.04x parameter increase over a selected baseline detector. We expect this work will inspire the research of 3D generalization since it will push the limits of perceptual performance.
Text-to-image diffusion models can synthesize a large variety of concepts in new compositions and scenarios. However, they still struggle with generating uncommon concepts, rare unusual combinations, or structured concepts like hand palms. Their limitation is partly due to the long-tail nature of their training data: web-crawled data sets are strongly unbalanced, causing models to under-represent concepts from the tail of the distribution. Here we characterize the effect of unbalanced training data on text-to-image models and offer a remedy. We show that rare concepts can be correctly generated by carefully selecting suitable generation seeds in the noise space, a technique that we call SeedSelect. SeedSelect is efficient and does not require retraining the diffusion model. We evaluate the benefit of SeedSelect on a series of problems. First, in few-shot semantic data augmentation, where we generate semantically correct images for few-shot and long-tail benchmarks. We show classification improvement on all classes, both from the head and tail of the training data of diffusion models. We further evaluate SeedSelect on correcting images of hands, a well-known pitfall of current diffusion models, and show that it improves hand generation substantially.
Understanding the structure, quantity, and type of snow in mountain landscapes is crucial for assessing avalanche safety, interpreting satellite imagery, building accurate hydrology models, and choosing the right pair of skis for your weekend trip. Currently, such characteristics of snowpack are measured using a combination of remote satellite imagery, weather stations, and laborious point measurements and descriptions provided by local forecasters, guides, and backcountry users. Here, we explore how characteristics of the top layer of snowpack could be estimated while skiing using strain sensors mounted to the top surface of an alpine ski. We show that with two strain gauges and an inertial measurement unit it is feasible to correctly assign one of three qualitative labels (powder, slushy, or icy/groomed snow) to each 10 second segment of a trajectory with 97% accuracy, independent of skiing style. Our algorithm uses a combination of a data-driven linear model of the ski-snow interaction, dimensionality reduction, and a Naive Bayes classifier. Comparisons of classifier performance between strain gauges suggest that the optimal placement of strain gauges is halfway between the binding and the tip/tail of the ski, in the cambered section just before the point where the unweighted ski would touch the snow surface. The ability to classify snow, potentially in real-time, using skis opens the door to applications that range from citizen science efforts to map snow surface characteristics in the backcountry, and develop skis with automated stiffness tuning based on the snow type.
The rapid growth of social media has caused tremendous effects on information propagation, raising extreme challenges in detecting rumors. Existing rumor detection methods typically exploit the reposting propagation of a rumor candidate for detection by regarding all reposts to a rumor candidate as a temporal sequence and learning semantics representations of the repost sequence. However, extracting informative support from the topological structure of propagation and the influence of reposting authors for debunking rumors is crucial, which generally has not been well addressed by existing methods. In this paper, we organize a claim post in circulation as an adhoc event tree, extract event elements, and convert it to bipartite adhoc event trees in terms of both posts and authors, i.e., author tree and post tree. Accordingly, we propose a novel rumor detection model with hierarchical representation on the bipartite adhoc event trees called BAET. Specifically, we introduce word embedding and feature encoder for the author and post tree, respectively, and design a root-aware attention module to perform node representation. Then we adopt the tree-like RNN model to capture the structural correlations and propose a tree-aware attention module to learn tree representation for the author tree and post tree, respectively. Extensive experimental results on two public Twitter datasets demonstrate the effectiveness of BAET in exploring and exploiting the rumor propagation structure and the superior detection performance of BAET over state-of-the-art baseline methods.
Deep neural networks (DNNs) have achieved unprecedented success in the field of artificial intelligence (AI), including computer vision, natural language processing and speech recognition. However, their superior performance comes at the considerable cost of computational complexity, which greatly hinders their applications in many resource-constrained devices, such as mobile phones and Internet of Things (IoT) devices. Therefore, methods and techniques that are able to lift the efficiency bottleneck while preserving the high accuracy of DNNs are in great demand in order to enable numerous edge AI applications. This paper provides an overview of efficient deep learning methods, systems and applications. We start from introducing popular model compression methods, including pruning, factorization, quantization as well as compact model design. To reduce the large design cost of these manual solutions, we discuss the AutoML framework for each of them, such as neural architecture search (NAS) and automated pruning and quantization. We then cover efficient on-device training to enable user customization based on the local data on mobile devices. Apart from general acceleration techniques, we also showcase several task-specific accelerations for point cloud, video and natural language processing by exploiting their spatial sparsity and temporal/token redundancy. Finally, to support all these algorithmic advancements, we introduce the efficient deep learning system design from both software and hardware perspectives.
Multi-object tracking (MOT) is a crucial component of situational awareness in military defense applications. With the growing use of unmanned aerial systems (UASs), MOT methods for aerial surveillance is in high demand. Application of MOT in UAS presents specific challenges such as moving sensor, changing zoom levels, dynamic background, illumination changes, obscurations and small objects. In this work, we present a robust object tracking architecture aimed to accommodate for the noise in real-time situations. We propose a kinematic prediction model, called Deep Extended Kalman Filter (DeepEKF), in which a sequence-to-sequence architecture is used to predict entity trajectories in latent space. DeepEKF utilizes a learned image embedding along with an attention mechanism trained to weight the importance of areas in an image to predict future states. For the visual scoring, we experiment with different similarity measures to calculate distance based on entity appearances, including a convolutional neural network (CNN) encoder, pre-trained using Siamese networks. In initial evaluation experiments, we show that our method, combining scoring structure of the kinematic and visual models within a MHT framework, has improved performance especially in edge cases where entity motion is unpredictable, or the data presents frames with significant gaps.
A community reveals the features and connections of its members that are different from those in other communities in a network. Detecting communities is of great significance in network analysis. Despite the classical spectral clustering and statistical inference methods, we notice a significant development of deep learning techniques for community detection in recent years with their advantages in handling high dimensional network data. Hence, a comprehensive overview of community detection's latest progress through deep learning is timely to both academics and practitioners. This survey devises and proposes a new taxonomy covering different categories of the state-of-the-art methods, including deep learning-based models upon deep neural networks, deep nonnegative matrix factorization and deep sparse filtering. The main category, i.e., deep neural networks, is further divided into convolutional networks, graph attention networks, generative adversarial networks and autoencoders. The survey also summarizes the popular benchmark data sets, model evaluation metrics, and open-source implementations to address experimentation settings. We then discuss the practical applications of community detection in various domains and point to implementation scenarios. Finally, we outline future directions by suggesting challenging topics in this fast-growing deep learning field.
Detection and recognition of text in natural images are two main problems in the field of computer vision that have a wide variety of applications in analysis of sports videos, autonomous driving, industrial automation, to name a few. They face common challenging problems that are factors in how text is represented and affected by several environmental conditions. The current state-of-the-art scene text detection and/or recognition methods have exploited the witnessed advancement in deep learning architectures and reported a superior accuracy on benchmark datasets when tackling multi-resolution and multi-oriented text. However, there are still several remaining challenges affecting text in the wild images that cause existing methods to underperform due to there models are not able to generalize to unseen data and the insufficient labeled data. Thus, unlike previous surveys in this field, the objectives of this survey are as follows: first, offering the reader not only a review on the recent advancement in scene text detection and recognition, but also presenting the results of conducting extensive experiments using a unified evaluation framework that assesses pre-trained models of the selected methods on challenging cases, and applies the same evaluation criteria on these techniques. Second, identifying several existing challenges for detecting or recognizing text in the wild images, namely, in-plane-rotation, multi-oriented and multi-resolution text, perspective distortion, illumination reflection, partial occlusion, complex fonts, and special characters. Finally, the paper also presents insight into the potential research directions in this field to address some of the mentioned challenges that are still encountering scene text detection and recognition techniques.