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Segmenting humans in 3D indoor scenes has become increasingly important with the rise of human-centered robotics and AR/VR applications. In this direction, we explore the tasks of 3D human semantic-, instance- and multi-human body-part segmentation. Few works have attempted to directly segment humans in point clouds (or depth maps), which is largely due to the lack of training data on humans interacting with 3D scenes. We address this challenge and propose a framework for synthesizing virtual humans in realistic 3D scenes. Synthetic point cloud data is attractive since the domain gap between real and synthetic depth is small compared to images. Our analysis of different training schemes using a combination of synthetic and realistic data shows that synthetic data for pre-training improves performance in a wide variety of segmentation tasks and models. We further propose the first end-to-end model for 3D multi-human body-part segmentation, called Human3D, that performs all the above segmentation tasks in a unified manner. Remarkably, Human3D even outperforms previous task-specific state-of-the-art methods. Finally, we manually annotate humans in test scenes from EgoBody to compare the proposed training schemes and segmentation models.

While Named Entity Recognition (NER) is a widely studied task, making inferences of entities with only a few labeled data has been challenging, especially for entities with nested structures. Unlike flat entities, entities and their nested entities are more likely to have similar semantic feature representations, drastically increasing difficulties in classifying different entity categories in the few-shot setting. Although prior work has briefly discussed nested structures in the context of few-shot learning, to our best knowledge, this paper is the first one specifically dedicated to studying the few-shot nested NER task. Leveraging contextual dependency to distinguish nested entities, we propose a Biaffine-based Contrastive Learning (BCL) framework. We first design a Biaffine span representation module for learning the contextual span dependency representation for each entity span rather than only learning its semantic representation. We then merge these two representations by the residual connection to distinguish nested entities. Finally, we build a contrastive learning framework to adjust the representation distribution for larger margin boundaries and more generalized domain transfer learning ability. We conducted experimental studies on three English, German, and Russian nested NER datasets. The results show that the BCL outperformed three baseline models on the 1-shot and 5-shot tasks in terms of F1 score.

Many high-level skills that are required for computer vision tasks, such as parsing questions, comparing and contrasting semantics, and writing descriptions, are also required in other domains such as natural language processing. In this paper, we ask whether this makes it possible to learn those skills from text data and then use them to complete vision tasks without ever training on visual training data. Key to our approach is exploiting the joint embedding space of contrastively trained vision and language encoders. In practice, there can be systematic differences between embedding spaces for different modalities in contrastive models, and we analyze how these differences affect our approach and study a variety of strategies to mitigate this concern. We produce models using only text training data on three tasks: image captioning, visual entailment and visual question answering, and evaluate them on standard benchmarks using images. We find that this kind of transfer is possible and results in only a small drop in performance relative to models trained on images. We also showcase a variety of stylistic image captioning models that were trained using no image data and no human-curated language data, but instead text data from books, the web, or language models.

We present MatSim: a synthetic dataset, a benchmark, and a method for computer vision based recognition of similarities and transitions between materials and textures, focusing on identifying any material under any conditions using one or a few examples (one-shot learning). The visual recognition of materials is essential to everything from examining food while cooking to inspecting agriculture, chemistry, and industrial products. In this work, we utilize giant repositories used by computer graphics artists to generate a new CGI dataset for material similarity. We use physics-based rendering (PBR) repositories for visual material simulation, assign these materials random 3D objects, and render images with a vast range of backgrounds and illumination conditions (HDRI). We add a gradual transition between materials to support applications with a smooth transition between states (like gradually cooked food). We also render materials inside transparent containers to support beverage and chemistry lab use cases. We then train a contrastive learning network to generate a descriptor that identifies unfamiliar materials using a single image. We also present a new benchmark for a few-shot material recognition that contains a wide range of real-world examples, including the state of a chemical reaction, rotten/fresh fruits, states of food, different types of construction materials, types of ground, and many other use cases involving material states, transitions and subclasses. We show that a network trained on the MatSim synthetic dataset outperforms state-of-the-art models like Clip on the benchmark, despite being tested on material classes that were not seen during training. The dataset, benchmark, code and trained models are available online.

Object goal navigation (ObjectNav) in unseen environments is a fundamental task for Embodied AI. Agents in existing works learn ObjectNav policies based on 2D maps, scene graphs, or image sequences. Considering this task happens in 3D space, a 3D-aware agent can advance its ObjectNav capability via learning from fine-grained spatial information. However, leveraging 3D scene representation can be prohibitively unpractical for policy learning in this floor-level task, due to low sample efficiency and expensive computational cost. In this work, we propose a framework for the challenging 3D-aware ObjectNav based on two straightforward sub-policies. The two sub-polices, namely corner-guided exploration policy and category-aware identification policy, simultaneously perform by utilizing online fused 3D points as observation. Through extensive experiments, we show that this framework can dramatically improve the performance in ObjectNav through learning from 3D scene representation. Our framework achieves the best performance among all modular-based methods on the Matterport3D and Gibson datasets, while requiring (up to 30x) less computational cost for training.

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.

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.

Conventional methods for object detection typically require a substantial amount of training data and preparing such high-quality training data is very labor-intensive. In this paper, we propose a novel few-shot object detection network that aims at detecting objects of unseen categories with only a few annotated examples. Central to our method are our Attention-RPN, Multi-Relation Detector and Contrastive Training strategy, which exploit the similarity between the few shot support set and query set to detect novel objects while suppressing false detection in the background. To train our network, we contribute a new dataset that contains 1000 categories of various objects with high-quality annotations. To the best of our knowledge, this is one of the first datasets specifically designed for few-shot object detection. Once our few-shot network is trained, it can detect objects of unseen categories without further training or fine-tuning. Our method is general and has a wide range of potential applications. We produce a new state-of-the-art performance on different datasets in the few-shot setting. The dataset link is //github.com/fanq15/Few-Shot-Object-Detection-Dataset.

We consider the task of weakly supervised one-shot detection. In this task, we attempt to perform a detection task over a set of unseen classes, when training only using weak binary labels that indicate the existence of a class instance in a given example. The model is conditioned on a single exemplar of an unseen class and a target example that may or may not contain an instance of the same class as the exemplar. A similarity map is computed by using a Siamese neural network to map the exemplar and regions of the target example to a latent representation space and then computing cosine similarity scores between representations. An attention mechanism weights different regions in the target example, and enables learning of the one-shot detection task using the weaker labels alone. The model can be applied to detection tasks from different domains, including computer vision object detection. We evaluate our attention Siamese networks on a one-shot detection task from the audio domain, where it detects audio keywords in spoken utterances. Our model considerably outperforms a baseline approach and yields a 42.6% average precision for detection across 10 unseen classes. Moreover, architectural developments from computer vision object detection models such as a region proposal network can be incorporated into the model architecture, and results show that performance is expected to improve by doing so.