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Domain adaptive semantic segmentation enables robust pixel-wise understanding in real-world driving scenes. Source-free domain adaptation, as a more practical technique, addresses the concerns of data privacy and storage limitations in typical unsupervised domain adaptation methods. It utilizes a well-trained source model and unlabeled target data to achieve adaptation in the target domain. However, in the absence of source data and target labels, current solutions cannot sufficiently reduce the impact of domain shift and fully leverage the information from the target data. In this paper, we propose an end-to-end source-free domain adaptation semantic segmentation method via Importance-Aware and Prototype-Contrast (IAPC) learning. The proposed IAPC framework effectively extracts domain-invariant knowledge from the well-trained source model and learns domain-specific knowledge from the unlabeled target domain. Specifically, considering the problem of domain shift in the prediction of the target domain by the source model, we put forward an importance-aware mechanism for the biased target prediction probability distribution to extract domain-invariant knowledge from the source model. We further introduce a prototype-contrast strategy, which includes a prototype-symmetric cross-entropy loss and a prototype-enhanced cross-entropy loss, to learn target intra-domain knowledge without relying on labels. A comprehensive variety of experiments on two domain adaptive semantic segmentation benchmarks demonstrates that the proposed end-to-end IAPC solution outperforms existing state-of-the-art methods. Code will be made publicly available at //github.com/yihong-97/Source-free_IAPC.

This paper investigates the performance of diffusion models for video anomaly detection (VAD) within the most challenging but also the most operational scenario in which the data annotations are not used. As being sparse, diverse, contextual, and often ambiguous, detecting abnormal events precisely is a very ambitious task. To this end, we rely only on the information-rich spatio-temporal data, and the reconstruction power of the diffusion models such that a high reconstruction error is utilized to decide the abnormality. Experiments performed on two large-scale video anomaly detection datasets demonstrate the consistent improvement of the proposed method over the state-of-the-art generative models while in some cases our method achieves better scores than the more complex models. This is the first study using a diffusion model and examining its parameters' influence to present guidance for VAD in surveillance scenarios.

Demystifying complex human-ground interactions is essential for accurate and realistic 3D human motion reconstruction from RGB videos, as it ensures consistency between the humans and the ground plane. Prior methods have modeled human-ground interactions either implicitly or in a sparse manner, often resulting in unrealistic and incorrect motions when faced with noise and uncertainty. In contrast, our approach explicitly represents these interactions in a dense and continuous manner. To this end, we propose a novel Ground-aware Motion Model for 3D Human Motion Reconstruction, named GraMMaR, which jointly learns the distribution of transitions in both pose and interaction between every joint and ground plane at each time step of a motion sequence. It is trained to explicitly promote consistency between the motion and distance change towards the ground. After training, we establish a joint optimization strategy that utilizes GraMMaR as a dual-prior, regularizing the optimization towards the space of plausible ground-aware motions. This leads to realistic and coherent motion reconstruction, irrespective of the assumed or learned ground plane. Through extensive evaluation on the AMASS and AIST++ datasets, our model demonstrates good generalization and discriminating abilities in challenging cases including complex and ambiguous human-ground interactions. The code will be released.

Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily deploy accelerated systems without expertise in each specific hardware platform. In this work, we address this challenge with RobotCore, an architecture to integrate hardware acceleration in the widely-used ROS 2 robotics software framework. This architecture is target-agnostic (supports edge, workstation, data center, or cloud targets) and accelerator-agnostic (supports both FPGAs and GPUs). It builds on top of the common ROS 2 build system and tools and is easily portable across different research and commercial solutions through a new firmware layer. We also leverage the Linux Tracing Toolkit next generation (LTTng) for low-overhead real-time tracing and benchmarking. To demonstrate the acceleration enabled by this architecture, we use it to deploy a ROS 2 perception computational graph on a CPU and FPGA. We employ our integrated tracing and benchmarking to analyze bottlenecks, uncovering insights that guide us to improve FPGA communication efficiency. In particular, we design an intra-FPGA ROS 2 node communication queue to enable faster data flows, and use it in conjunction with FPGA-accelerated nodes to achieve a 24.42% speedup over a CPU.

In this paper, we propose using deep neural architectures (i.e., vision transformers and ResNet) as heuristics for sequential decision-making in robotic manipulation problems. This formulation enables predicting the subset of objects that are relevant for completing a task. Such problems are often addressed by task and motion planning (TAMP) formulations combining symbolic reasoning and continuous motion planning. In essence, the action-object relationships are resolved for discrete, symbolic decisions that are used to solve manipulation motions (e.g., via nonlinear trajectory optimization). However, solving long-horizon tasks requires consideration of all possible action-object combinations which limits the scalability of TAMP approaches. To overcome this combinatorial complexity, we introduce a visual perception module integrated with a TAMP-solver. Given a task and an initial image of the scene, the learned model outputs the relevancy of objects to accomplish the task. By incorporating the predictions of the model into a TAMP formulation as a heuristic, the size of the search space is significantly reduced. Results show that our framework finds feasible solutions more efficiently when compared to a state-of-the-art TAMP solver.

Approaching the era of ubiquitous computing, human motion sensing plays a crucial role in smart systems for decision making, user interaction, and personalized services. Extensive research has been conducted on human tracking, pose estimation, gesture recognition, and activity recognition, which are predominantly based on cameras in traditional methods. However, the intrusive nature of cameras limits their use in smart home applications. To address this, mmWave radars have gained popularity due to their privacy-friendly features. In this work, we propose \textit{milliFlow}, a novel deep learning method for scene flow estimation as a complementary motion information for mmWave point cloud, serving as an intermediate level of features and directly benefiting downstream human motion sensing tasks. Experimental results demonstrate the superior performance of our method with an average 3D endpoint error of 4.6cm, significantly surpassing the competing approaches. Furthermore, by incorporating scene flow information, we achieve remarkable improvements in human activity recognition, human parsing, and human body part tracking. To foster further research in this area, we provide our codebase and dataset for open access.

Learning from humans allows non-experts to program robots with ease, lowering the resources required to build complex robotic solutions. Nevertheless, such data-driven approaches often lack the ability to provide guarantees regarding their learned behaviors, which is critical for avoiding failures and/or accidents. In this work, we focus on reaching/point-to-point motions, where robots must always reach their goal, independently of their initial state. This can be achieved by modeling motions as dynamical systems and ensuring that they are globally asymptotically stable. Hence, we introduce a novel Contrastive Learning loss for training Deep Neural Networks (DNN) that, when used together with an Imitation Learning loss, enforces the aforementioned stability in the learned motions. Differently from previous work, our method does not restrict the structure of its function approximator, enabling its use with arbitrary DNNs and allowing it to learn complex motions with high accuracy. We validate it using datasets and a real robot. In the former case, motions are 2 and 4 dimensional, modeled as first- and second-order dynamical systems. In the latter, motions are 3, 4, and 6 dimensional, of first and second order, and are used to control a 7DoF robot manipulator in its end effector space and joint space. More details regarding the real-world experiments are presented in: \url{//youtu.be/OM-2edHBRfc}.

Unsupervised domain adaptation has recently emerged as an effective paradigm for generalizing deep neural networks to new target domains. However, there is still enormous potential to be tapped to reach the fully supervised performance. In this paper, we present a novel active learning strategy to assist knowledge transfer in the target domain, dubbed active domain adaptation. We start from an observation that energy-based models exhibit free energy biases when training (source) and test (target) data come from different distributions. Inspired by this inherent mechanism, we empirically reveal that a simple yet efficient energy-based sampling strategy sheds light on selecting the most valuable target samples than existing approaches requiring particular architectures or computation of the distances. Our algorithm, Energy-based Active Domain Adaptation (EADA), queries groups of targe data that incorporate both domain characteristic and instance uncertainty into every selection round. Meanwhile, by aligning the free energy of target data compact around the source domain via a regularization term, domain gap can be implicitly diminished. Through extensive experiments, we show that EADA surpasses state-of-the-art methods on well-known challenging benchmarks with substantial improvements, making it a useful option in the open world. Code is available at //github.com/BIT-DA/EADA.

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.