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Effective planning of long-horizon deformable object manipulation requires suitable abstractions at both the spatial and temporal levels. Previous methods typically either focus on short-horizon tasks or make strong assumptions that full-state information is available, which prevents their use on deformable objects. In this paper, we propose PlAnning with Spatial-Temporal Abstraction (PASTA), which incorporates both spatial abstraction (reasoning about objects and their relations to each other) and temporal abstraction (reasoning over skills instead of low-level actions). Our framework maps high-dimension 3D observations such as point clouds into a set of latent vectors and plans over skill sequences on top of the latent set representation. We show that our method can effectively perform challenging sequential deformable object manipulation tasks in the real world, which require combining multiple tool-use skills such as cutting with a knife, pushing with a pusher, and spreading the dough with a roller.

Since DARPA started Grand Challenges in 2004 and Urban Challenges in 2007, autonomous driving has been the most active field of AI applications. This paper gives an overview about technical aspects of autonomous driving technologies and open problems. We investigate the major fields of self-driving systems, such as perception, mapping and localization, prediction, planning and control, simulation, V2X and safety etc. Especially we elaborate on all these issues in a framework of data closed loop, a popular platform to solve the long tailed autonomous driving problems.

We propose a method for in-hand 3D scanning of an unknown object with a monocular camera. Our method relies on a neural implicit surface representation that captures both the geometry and the appearance of the object, however, by contrast with most NeRF-based methods, we do not assume that the camera-object relative poses are known. Instead, we simultaneously optimize both the object shape and the pose trajectory. As direct optimization over all shape and pose parameters is prone to fail without coarse-level initialization, we propose an incremental approach that starts by splitting the sequence into carefully selected overlapping segments within which the optimization is likely to succeed. We reconstruct the object shape and track its poses independently within each segment, then merge all the segments before performing a global optimization. We show that our method is able to reconstruct the shape and color of both textured and challenging texture-less objects, outperforms classical methods that rely only on appearance features, and that its performance is close to recent methods that assume known camera poses.

Recent focus in video captioning has been on designing architectures that can consume both video and text modalities, and using large-scale video datasets with text transcripts for pre-training, such as HowTo100M. Though these approaches have achieved significant improvement, the audio modality is often ignored in video captioning. In this work, we present an audio-visual framework, which aims to fully exploit the potential of the audio modality for captioning. Instead of relying on text transcripts extracted via automatic speech recognition (ASR), we argue that learning with raw audio signals can be more beneficial, as audio has additional information including acoustic events, speaker identity, etc. Our contributions are twofold. First, we observed that the model overspecializes to the audio modality when pre-training with both video and audio modality, since the ground truth (i.e., text transcripts) can be solely predicted using audio. We proposed a Modality Balanced Pre-training (MBP) loss to mitigate this issue and significantly improve the performance on downstream tasks. Second, we slice and dice different design choices of the cross-modal module, which may become an information bottleneck and generate inferior results. We proposed new local-global fusion mechanisms to improve information exchange across audio and video. We demonstrate significant improvements by leveraging the audio modality on four datasets, and even outperform the state of the art on some metrics without relying on the text modality as the input.

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence predictor that regresses 3D model coordinates for every pixel. In addition to the 3D coordinates, our model also estimates the pixel-wise coordinate error to discard correspondences that are likely wrong. This allows us to generate multiple 6D pose hypotheses of the object, which we then refine iteratively using a highly efficient region-based approach. We also introduce a novel pixel-wise posterior formulation by which we can estimate the probability for each hypothesis and select the most likely one. As we show in experiments, our approach is capable of dealing with extreme visual conditions including overexposure, high contrast, or low signal-to-noise ratio. This makes it a powerful technique for the particularly challenging task of estimating the pose of tumbling satellites for in-orbit robotic applications. Our method achieves state-of-the-art performance on the SPEED+ dataset and has won the SPEC2021 post-mortem competition.

Staging of liver fibrosis is important in the diagnosis and treatment planning of patients suffering from liver diseases. Current deep learning-based methods using abdominal magnetic resonance imaging (MRI) usually take a sub-region of the liver as an input, which nevertheless could miss critical information. To explore richer representations, we formulate this task as a multi-view learning problem and employ multiple sub-regions of the liver. Previously, features or predictions are usually combined in an implicit manner, and uncertainty-aware methods have been proposed. However, these methods could be challenged to capture cross-view representations, which can be important in the accurate prediction of staging. Therefore, we propose a reliable multi-view learning method with interpretable combination rules, which can model global representations to improve the accuracy of predictions. Specifically, the proposed method estimates uncertainties based on subjective logic to improve reliability, and an explicit combination rule is applied based on Dempster-Shafer's evidence theory with good power of interpretability. Moreover, a data-efficient transformer is introduced to capture representations in the global view. Results evaluated on enhanced MRI data show that our method delivers superior performance over existing multi-view learning methods.

Zero-Shot Learning (ZSL), which aims at automatically recognizing unseen objects, is a promising learning paradigm to understand new real-world knowledge for machines continuously. Recently, the Knowledge Graph (KG) has been proven as an effective scheme for handling the zero-shot task with large-scale and non-attribute data. Prior studies always embed relationships of seen and unseen objects into visual information from existing knowledge graphs to promote the cognitive ability of the unseen data. Actually, real-world knowledge is naturally formed by multimodal facts. Compared with ordinary structural knowledge from a graph perspective, multimodal KG can provide cognitive systems with fine-grained knowledge. For example, the text description and visual content can depict more critical details of a fact than only depending on knowledge triplets. Unfortunately, this multimodal fine-grained knowledge is largely unexploited due to the bottleneck of feature alignment between different modalities. To that end, we propose a multimodal intensive ZSL framework that matches regions of images with corresponding semantic embeddings via a designed dense attention module and self-calibration loss. It makes the semantic transfer process of our ZSL framework learns more differentiated knowledge between entities. Our model also gets rid of the performance limitation of only using rough global features. We conduct extensive experiments and evaluate our model on large-scale real-world data. The experimental results clearly demonstrate the effectiveness of the proposed model in standard zero-shot classification tasks.

Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms which can operate drones in complex and uncertain environments. Additionally, flying fast enables drones to cover more ground which in turn increases productivity and further strengthens their use case. One proxy for developing algorithms used in high-speed navigation is the task of autonomous drone racing, where researchers program drones to fly through a sequence of gates and avoid obstacles as quickly as possible using onboard sensors and limited computational power. Speeds and accelerations exceed over 80 kph and 4 g respectively, raising significant challenges across perception, planning, control, and state estimation. To achieve maximum performance, systems require real-time algorithms that are robust to motion blur, high dynamic range, model uncertainties, aerodynamic disturbances, and often unpredictable opponents. This survey covers the progression of autonomous drone racing across model-based and learning-based approaches. We provide an overview of the field, its evolution over the years, and conclude with the biggest challenges and open questions to be faced in the future.

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of such perception system especially for the sake of path planning, motion prediction, collision avoidance, etc. Generally, stereo or monocular images with corresponding 3D point clouds are already standard layout for 3D object detection, out of which point clouds are increasingly prevalent with accurate depth information being provided. Despite existing efforts, 3D object detection on point clouds is still in its infancy due to high sparseness and irregularity of point clouds by nature, misalignment view between camera view and LiDAR bird's eye of view for modality synergies, occlusions and scale variations at long distances, etc. Recently, profound progress has been made in 3D object detection, with a large body of literature being investigated to address this vision task. As such, we present a comprehensive review of the latest progress in this field covering all the main topics including sensors, fundamentals, and the recent state-of-the-art detection methods with their pros and cons. Furthermore, we introduce metrics and provide quantitative comparisons on popular public datasets. The avenues for future work are going to be judiciously identified after an in-deep analysis of the surveyed works. Finally, we conclude this paper.

Most object recognition approaches predominantly focus on learning discriminative visual patterns while overlooking the holistic object structure. Though important, structure modeling usually requires significant manual annotations and therefore is labor-intensive. In this paper, we propose to "look into object" (explicitly yet intrinsically model the object structure) through incorporating self-supervisions into the traditional framework. We show the recognition backbone can be substantially enhanced for more robust representation learning, without any cost of extra annotation and inference speed. Specifically, we first propose an object-extent learning module for localizing the object according to the visual patterns shared among the instances in the same category. We then design a spatial context learning module for modeling the internal structures of the object, through predicting the relative positions within the extent. These two modules can be easily plugged into any backbone networks during training and detached at inference time. Extensive experiments show that our look-into-object approach (LIO) achieves large performance gain on a number of benchmarks, including generic object recognition (ImageNet) and fine-grained object recognition tasks (CUB, Cars, Aircraft). We also show that this learning paradigm is highly generalizable to other tasks such as object detection and segmentation (MS COCO). Project page: //github.com/JDAI-CV/LIO.