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Most anomaly detection systems try to model normal behavior and assume anomalies deviate from it in diverse manners. However, there may be patterns in the anomalies as well. Ideally, an anomaly detection system can exploit patterns in both normal and anomalous behavior. In this paper, we present AD-MERCS, an unsupervised approach to anomaly detection that explicitly aims at doing both. AD-MERCS identifies multiple subspaces of the instance space within which patterns exist, and identifies conditions (possibly in other subspaces) that characterize instances that deviate from these patterns. Experiments show that this modeling of both normality and abnormality makes the anomaly detector performant on a wide range of types of anomalies. Moreover, by identifying patterns and conditions in (low-dimensional) subspaces, the anomaly detector can provide simple explanations of why something is considered an anomaly. These explanations can be both negative (deviation from some pattern) as positive (meeting some condition that is typical for anomalies).

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and orientation of an object in 3D space. Most existing approaches to pose estimation make limiting assumptions, often working only for specific, known object instances, or at best generalising to an object category using large pose-labelled datasets. In this work, we present a method for achieving category-level pose estimation by inspection of just a single object from a desired category. We show that we can subsequently perform accurate pose estimation for unseen objects from an inspected category, and considerably outperform prior work by exploiting multi-view correspondences. We demonstrate that our method runs in real-time, enabling a robot manipulator equipped with an RGBD sensor to perform online 6D pose estimation for novel objects. Finally, we showcase our method in a continual learning setting, with a robot able to determine whether objects belong to known categories, and if not, use active perception to produce a one-shot category representation for subsequent pose estimation.

Contemporary autonomous vehicle (AV) benchmarks have advanced techniques for training 3D detectors, particularly on large-scale lidar data. Surprisingly, although semantic class labels naturally follow a long-tailed distribution, contemporary benchmarks focus on only a few common classes (e.g., pedestrian and car) and neglect many rare classes in-the-tail (e.g., debris and stroller). However, AVs must still detect rare classes to ensure safe operation. Moreover, semantic classes are often organized within a hierarchy, e.g., tail classes such as child and construction-worker are arguably subclasses of pedestrian. However, such hierarchical relationships are often ignored, which may lead to misleading estimates of performance and missed opportunities for algorithmic innovation. We address these challenges by formally studying the problem of Long-Tailed 3D Detection (LT3D), which evaluates on all classes, including those in-the-tail. We evaluate and innovate upon popular 3D detection codebases, such as CenterPoint and PointPillars, adapting them for LT3D. We develop hierarchical losses that promote feature sharing across common-vs-rare classes, as well as improved detection metrics that award partial credit to "reasonable" mistakes respecting the hierarchy (e.g., mistaking a child for an adult). Finally, we point out that fine-grained tail class accuracy is particularly improved via multimodal fusion of RGB images with LiDAR; simply put, small fine-grained classes are challenging to identify from sparse (lidar) geometry alone, suggesting that multimodal cues are crucial to long-tailed 3D detection. Our modifications improve accuracy by 5% AP on average for all classes, and dramatically improve AP for rare classes (e.g., stroller AP improves from 3.6 to 31.6)! Our code is available at //github.com/neeharperi/LT3D

Visual spatial description (VSD) aims to generate texts that describe the spatial relations of the given objects within images. Existing VSD work merely models the 2D geometrical vision features, thus inevitably falling prey to the problem of skewed spatial understanding of target objects. In this work, we investigate the incorporation of 3D scene features for VSD. With an external 3D scene extractor, we obtain the 3D objects and scene features for input images, based on which we construct a target object-centered 3D spatial scene graph (Go3D-S2G), such that we model the spatial semantics of target objects within the holistic 3D scenes. Besides, we propose a scene subgraph selecting mechanism, sampling topologically-diverse subgraphs from Go3D-S2G, where the diverse local structure features are navigated to yield spatially-diversified text generation. Experimental results on two VSD datasets demonstrate that our framework outperforms the baselines significantly, especially improving on the cases with complex visual spatial relations. Meanwhile, our method can produce more spatially-diversified generation. Code is available at //github.com/zhaoyucs/VSD.

This paper addresses video anomaly detection problem for videosurveillance. Due to the inherent rarity and heterogeneity of abnormal events, the problem is viewed as a normality modeling strategy, in which our model learns object-centric normal patterns without seeing anomalous samples during training. The main contributions consist in coupling pretrained object-level action features prototypes with a cosine distance-based anomaly estimation function, therefore extending previous methods by introducing additional constraints to the mainstream reconstruction-based strategy. Our framework leverages both appearance and motion information to learn object-level behavior and captures prototypical patterns within a memory module. Experiments on several well-known datasets demonstrate the effectiveness of our method as it outperforms current state-of-the-art on most relevant spatio-temporal evaluation metrics.

This paper presents a method to reconstruct high-quality textured 3D models from single images. Current methods rely on datasets with expensive annotations; multi-view images and their camera parameters. Our method relies on GAN generated multi-view image datasets which have a negligible annotation cost. However, they are not strictly multi-view consistent and sometimes GANs output distorted images. This results in degraded reconstruction qualities. In this work, to overcome these limitations of generated datasets, we have two main contributions which lead us to achieve state-of-the-art results on challenging objects: 1) A robust multi-stage learning scheme that gradually relies more on the models own predictions when calculating losses, 2) A novel adversarial learning pipeline with online pseudo-ground truth generations to achieve fine details. Our work provides a bridge from 2D supervisions of GAN models to 3D reconstruction models and removes the expensive annotation efforts. We show significant improvements over previous methods whether they were trained on GAN generated multi-view images or on real images with expensive annotations. Please visit our web-page for 3D visuals: //research.nvidia.com/labs/adlr/progressive-3d-learning

We study the problem of change point (CP) detection with high dimensional time series, within the framework of frequency domain. The overarching goal is to locate all change points and for each change point, delineate which series are activated by the change, over which set of frequencies. The working assumption is that only a few series are activated per change and frequency. We solve the problem by computing a CUSUM tensor based on spectra estimated from blocks of the observed time series. A frequency-specific projection approach is applied to the CUSUM tensor for dimension reduction. The projection direction is estimated by a proposed sparse tensor decomposition algorithm. Finally, the projected CUSUM vectors across frequencies are aggregated by a sparsified wild binary segmentation for change point detection. We provide theoretical guarantees on the number of estimated change points and the convergence rate of their locations. We derive error bounds for the estimated projection direction for identifying the frequency-specific series that are activated in a change. We provide data-driven rules for the choice of parameters. We illustrate the efficacy of the proposed method by simulation and a stock returns application.

Predicting how a drug-like molecule binds to a specific protein target is a core problem in drug discovery. An extremely fast computational binding method would enable key applications such as fast virtual screening or drug engineering. Existing methods are computationally expensive as they rely on heavy candidate sampling coupled with scoring, ranking, and fine-tuning steps. We challenge this paradigm with EquiBind, an SE(3)-equivariant geometric deep learning model performing direct-shot prediction of both i) the receptor binding location (blind docking) and ii) the ligand's bound pose and orientation. EquiBind achieves significant speed-ups and better quality compared to traditional and recent baselines. Further, we show extra improvements when coupling it with existing fine-tuning techniques at the cost of increased running time. Finally, we propose a novel and fast fine-tuning model that adjusts torsion angles of a ligand's rotatable bonds based on closed-form global minima of the von Mises angular distance to a given input atomic point cloud, avoiding previous expensive differential evolution strategies for energy minimization.

Human pose estimation aims to locate the human body parts and build human body representation (e.g., body skeleton) from input data such as images and videos. It has drawn increasing attention during the past decade and has been utilized in a wide range of applications including human-computer interaction, motion analysis, augmented reality, and virtual reality. Although the recently developed deep learning-based solutions have achieved high performance in human pose estimation, there still remain challenges due to insufficient training data, depth ambiguities, and occlusions. The goal of this survey paper is to provide a comprehensive review of recent deep learning-based solutions for both 2D and 3D pose estimation via a systematic analysis and comparison of these solutions based on their input data and inference procedures. More than 240 research papers since 2014 are covered in this survey. Furthermore, 2D and 3D human pose estimation datasets and evaluation metrics are included. Quantitative performance comparisons of the reviewed methods on popular datasets are summarized and discussed. Finally, the challenges involved, applications, and future research directions are concluded. We also provide a regularly updated project page on: \url{//github.com/zczcwh/DL-HPE}

This work addresses a novel and challenging problem of estimating the full 3D hand shape and pose from a single RGB image. Most current methods in 3D hand analysis from monocular RGB images only focus on estimating the 3D locations of hand keypoints, which cannot fully express the 3D shape of hand. In contrast, we propose a Graph Convolutional Neural Network (Graph CNN) based method to reconstruct a full 3D mesh of hand surface that contains richer information of both 3D hand shape and pose. To train networks with full supervision, we create a large-scale synthetic dataset containing both ground truth 3D meshes and 3D poses. When fine-tuning the networks on real-world datasets without 3D ground truth, we propose a weakly-supervised approach by leveraging the depth map as a weak supervision in training. Through extensive evaluations on our proposed new datasets and two public datasets, we show that our proposed method can produce accurate and reasonable 3D hand mesh, and can achieve superior 3D hand pose estimation accuracy when compared with state-of-the-art methods.