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Despite remarkable achievements in video synthesis, achieving granular control over complex dynamics, such as nuanced movement among multiple interacting objects, still presents a significant hurdle for dynamic world modeling, compounded by the necessity to manage appearance and disappearance, drastic scale changes, and ensure consistency for instances across frames. These challenges hinder the development of video generation that can faithfully mimic real-world complexity, limiting utility for applications requiring high-level realism and controllability, including advanced scene simulation and training of perception systems. To address that, we propose TrackDiffusion, a novel video generation framework affording fine-grained trajectory-conditioned motion control via diffusion models, which facilitates the precise manipulation of the object trajectories and interactions, overcoming the prevalent limitation of scale and continuity disruptions. A pivotal component of TrackDiffusion is the instance enhancer, which explicitly ensures inter-frame consistency of multiple objects, a critical factor overlooked in the current literature. Moreover, we demonstrate that generated video sequences by our TrackDiffusion can be used as training data for visual perception models. To the best of our knowledge, this is the first work to apply video diffusion models with tracklet conditions and demonstrate that generated frames can be beneficial for improving the performance of object trackers.

Verbal communication plays a crucial role in human cooperation, particularly when the partners only have incomplete information about the task, environment, and each other's mental state. In this paper, we propose a novel cooperative communication framework, Goal-Oriented Mental Alignment (GOMA). GOMA formulates verbal communication as a planning problem that minimizes the misalignment between the parts of agents' mental states that are relevant to the goals. This approach enables an embodied assistant to reason about when and how to proactively initialize communication with humans verbally using natural language to help achieve better cooperation. We evaluate our approach against strong baselines in two challenging environments, Overcooked (a multiplayer game) and VirtualHome (a household simulator). Our experimental results demonstrate that large language models struggle with generating meaningful communication that is grounded in the social and physical context. In contrast, our approach can successfully generate concise verbal communication for the embodied assistant to effectively boost the performance of the cooperation as well as human users' perception of the assistant.

The ability of resource-constrained biological systems such as fruitflies to perform complex and high-speed maneuvers in cluttered environments has been one of the prime sources of inspiration for developing vision-based autonomous systems. To emulate this capability, the perception pipeline of such systems must integrate information cues from tasks including optical flow and depth estimation, object detection and tracking, and segmentation, among others. However, the conventional approach of employing slow, synchronous inputs from standard frame-based cameras constrains these perception capabilities, particularly during high-speed maneuvers. Recently, event-based sensors have emerged as low latency and low energy alternatives to standard frame-based cameras for capturing high-speed motion, effectively speeding up perception and hence navigation. For coherence, all the perception tasks must be trained on the same input data. However, present-day datasets are curated mainly for a single or a handful of tasks and are limited in the rate of the provided ground truths. To address these limitations, we present Flying Event Dataset fOr Reactive behAviour (FEDORA) - a fully synthetic dataset for perception tasks, with raw data from frame-based cameras, event-based cameras, and Inertial Measurement Units (IMU), along with ground truths for depth, pose, and optical flow at a rate much higher than existing datasets.

Backdoor attacks, representing an emerging threat to the integrity of deep neural networks, have garnered significant attention due to their ability to compromise deep learning systems clandestinely. While numerous backdoor attacks occur within the digital realm, their practical implementation in real-world prediction systems remains limited and vulnerable to disturbances in the physical world. Consequently, this limitation has given rise to the development of physical backdoor attacks, where trigger objects manifest as physical entities within the real world. However, creating the requisite dataset to train or evaluate a physical backdoor model is a daunting task, limiting the backdoor researchers and practitioners from studying such physical attack scenarios. This paper unleashes a recipe that empowers backdoor researchers to effortlessly create a malicious, physical backdoor dataset based on advances in generative modeling. Particularly, this recipe involves 3 automatic modules: suggesting the suitable physical triggers, generating the poisoned candidate samples (either by synthesizing new samples or editing existing clean samples), and finally refining for the most plausible ones. As such, it effectively mitigates the perceived complexity associated with creating a physical backdoor dataset, transforming it from a daunting task into an attainable objective. Extensive experiment results show that datasets created by our "recipe" enable adversaries to achieve an impressive attack success rate on real physical world data and exhibit similar properties compared to previous physical backdoor attack studies. This paper offers researchers a valuable toolkit for studies of physical backdoors, all within the confines of their laboratories.

A promising approach for improving the performance of vision-language models like CLIP for image classification is to extend the class descriptions (i.e., prompts) with related attributes, e.g., using brown sparrow instead of sparrow. However, current zero-shot methods select a subset of attributes regardless of commonalities between the target classes, potentially providing no useful information that would have helped to distinguish between them. For instance, they may use color instead of bill shape to distinguish between sparrows and wrens, which are both brown. We propose Follow-up Differential Descriptions (FuDD), a zero-shot approach that tailors the class descriptions to each dataset and leads to additional attributes that better differentiate the target classes. FuDD first identifies the ambiguous classes for each image, and then uses a Large Language Model (LLM) to generate new class descriptions that differentiate between them. The new class descriptions resolve the initial ambiguity and help predict the correct label. In our experiments, FuDD consistently outperforms generic description ensembles and naive LLM-generated descriptions on 12 datasets. We show that differential descriptions are an effective tool to resolve class ambiguities, which otherwise significantly degrade the performance. We also show that high quality natural language class descriptions produced by FuDD result in comparable performance to few-shot adaptation methods.

The pretraining-finetuning paradigm has gained widespread adoption in vision tasks and other fields, yet it faces the significant challenge of high sample annotation costs. To mitigate this, the concept of active finetuning has emerged, aiming to select the most appropriate samples for model finetuning within a limited budget. Traditional active learning methods often struggle in this setting due to their inherent bias in batch selection. Furthermore, the recent active finetuning approach has primarily concentrated on aligning the distribution of selected subsets with the overall data pool, focusing solely on diversity. In this paper, we propose a Bi-Level Active Finetuning framework to select the samples for annotation in one shot, which includes two stages: core sample selection for diversity, and boundary sample selection for uncertainty. The process begins with the identification of pseudo-class centers, followed by an innovative denoising method and an iterative strategy for boundary sample selection in the high-dimensional feature space, all without relying on ground-truth labels. Our comprehensive experiments provide both qualitative and quantitative evidence of our method's efficacy, outperforming all the existing baselines.

Recent advances in the theory of Neural Operators (NOs) have enabled fast and accurate computation of the solutions to complex systems described by partial differential equations (PDEs). Despite their great success, current NO-based solutions face important challenges when dealing with spatio-temporal PDEs over long time scales. Specifically, the current theory of NOs does not present a systematic framework to perform data assimilation and efficiently correct the evolution of PDE solutions over time based on sparsely sampled noisy measurements. In this paper, we propose a learning-based state-space approach to compute the solution operators to infinite-dimensional semilinear PDEs. Exploiting the structure of semilinear PDEs and the theory of nonlinear observers in function spaces, we develop a flexible recursive method that allows for both prediction and data assimilation by combining prediction and correction operations. The proposed framework is capable of producing fast and accurate predictions over long time horizons, dealing with irregularly sampled noisy measurements to correct the solution, and benefits from the decoupling between the spatial and temporal dynamics of this class of PDEs. We show through experiments on the Kuramoto-Sivashinsky, Navier-Stokes and Korteweg-de Vries equations that the proposed model is robust to noise and can leverage arbitrary amounts of measurements to correct its prediction over a long time horizon with little computational overhead.

Vision-based occupancy prediction, also known as 3D Semantic Scene Completion (SSC), presents a significant challenge in computer vision. Previous methods, confined to onboard processing, struggle with simultaneous geometric and semantic estimation, continuity across varying viewpoints, and single-view occlusion. Our paper introduces OccFiner, a novel offboard framework designed to enhance the accuracy of vision-based occupancy predictions. OccFiner operates in two hybrid phases: 1) a multi-to-multi local propagation network that implicitly aligns and processes multiple local frames for correcting onboard model errors and consistently enhancing occupancy accuracy across all distances. 2) the region-centric global propagation, focuses on refining labels using explicit multi-view geometry and integrating sensor bias, especially to increase the accuracy of distant occupied voxels. Extensive experiments demonstrate that OccFiner improves both geometric and semantic accuracy across various types of coarse occupancy, setting a new state-of-the-art performance on the SemanticKITTI dataset. Notably, OccFiner elevates vision-based SSC models to a level even surpassing that of LiDAR-based onboard SSC models.

Images can convey rich semantics and induce various emotions in viewers. Recently, with the rapid advancement of emotional intelligence and the explosive growth of visual data, extensive research efforts have been dedicated to affective image content analysis (AICA). In this survey, we will comprehensively review the development of AICA in the recent two decades, especially focusing on the state-of-the-art methods with respect to three main challenges -- the affective gap, perception subjectivity, and label noise and absence. We begin with an introduction to the key emotion representation models that have been widely employed in AICA and description of available datasets for performing evaluation with quantitative comparison of label noise and dataset bias. We then summarize and compare the representative approaches on (1) emotion feature extraction, including both handcrafted and deep features, (2) learning methods on dominant emotion recognition, personalized emotion prediction, emotion distribution learning, and learning from noisy data or few labels, and (3) AICA based applications. Finally, we discuss some challenges and promising research directions in the future, such as image content and context understanding, group emotion clustering, and viewer-image interaction.

Distant supervision can effectively label data for relation extraction, but suffers from the noise labeling problem. Recent works mainly perform soft bag-level noise reduction strategies to find the relatively better samples in a sentence bag, which is suboptimal compared with making a hard decision of false positive samples in sentence level. In this paper, we introduce an adversarial learning framework, which we named DSGAN, to learn a sentence-level true-positive generator. Inspired by Generative Adversarial Networks, we regard the positive samples generated by the generator as the negative samples to train the discriminator. The optimal generator is obtained until the discrimination ability of the discriminator has the greatest decline. We adopt the generator to filter distant supervision training dataset and redistribute the false positive instances into the negative set, in which way to provide a cleaned dataset for relation classification. The experimental results show that the proposed strategy significantly improves the performance of distant supervision relation extraction comparing to state-of-the-art systems.