For a considerable time, deep convolutional neural networks (DCNNs) have reached human benchmark performance in object recognition. On that account, computational neuroscience and the field of machine learning have started to attribute numerous similarities and differences to artificial and biological vision. This study aims towards a behavioral comparison of visual core object recognition performance between humans and feedforward neural networks in a classification learning paradigm on an ImageNet data set. For this purpose, human participants (n = 65) competed in an online experiment against different feedforward DCNNs. The designed approach based on a typical learning process of seven different monkey categories included a training and validation phase with natural examples, as well as a testing phase with novel, unexperienced shape and color manipulations. Analyses of accuracy revealed that humans not only outperform DCNNs on all conditions, but also display significantly greater robustness towards shape and most notably color alterations. Furthermore, a precise examination of behavioral patterns highlights these findings by revealing independent classification errors between the groups. The obtained results show that humans contrast strongly with artificial feedforward architectures when it comes to visual core object recognition of manipulated images. In general, these findings are in line with a growing body of literature, that hints towards recurrence as a crucial factor for adequate generalization abilities.
In this paper, we present an approach based on reinforcement learning for eye tracking data manipulation. It is based on two opposing agents, where one tries to classify the data correctly and the second agent looks for patterns in the data, which get manipulated to hide specific information. We show that our approach is successfully applicable to preserve the privacy of the subjects. For this purpose, we evaluate our approach iteratively to showcase the behavior of the reinforcement learning based approach. In addition, we evaluate the importance of temporal, as well as spatial, information o…
Text-guided Eyeglasses Manipulation with Spatial Constraints
Huazhong University of Science and Technology（华中科技大学）；Research Agency for Science, Technology and Research（新加坡科技研究局）；Disney Streaming Advanced Research（迪士尼流媒体高级研究部）
Precision robotic manipulation tasks (insertion, screwing, precisely pick, precisely place) are required in many scenarios. Previous methods achieved good performance on such manipulation tasks. However, such methods typically require tedious calibration or expensive sensors. 3D/RGB-D cameras and torque/force sensors add to the cost of the robotic application and may not always be economical. In this work, we aim to solve these but using only weak-calibrated and low-cost webcams. We propose Binocular Alignment Learning (BAL), which could automatically learn the eye-hand coordination and points…
We are seeing a Cambrian explosion of 3D shape representations for use in machine learning. Some representations seek high expressive power in capturing high-resolution detail. Other approaches seek to represent shapes as compositions of simple parts, which are intuitive for people to understand and easy to edit and manipulate. However, it is difficult to achieve both fidelity and interpretability in the same representation. We propose DualSDF, a representation expressing shapes at two levels of granularity, one capturing fine details and the other representing an abstracted proxy shape using …
University of Arkansas（阿肯色大学）；Oak Ridge National Laboratory（橡树岭国家实验室）；The University of Texas at Dallas（德克萨斯大学达拉斯分校）
Face identity masking algorithms developed in recent years aim to protect the privacy of people in video recordings. These algorithms are designed to interfere with identification, while preserving information about facial actions. An important challenge is to preserve subtle actions in the eye region, while obscuring the salient identity cues from the eyes. We evaluated the effectiveness of identity-masking algorithms based on Canny filters, applied with and without eye enhancement, for interfering with identification and preserving facial actions. In Experiments 1 and 2, we tested human part…
Artificial intelligence (AI) systems power the world we live in. Deep neural networks (DNNs) are able to solve tasks in an ever-expanding landscape of scenarios, but our eagerness to apply these powerful models leads us to focus on their performance and deprioritises our ability to understand them. Current research in the field of explainable AI tries to bridge this gap by developing various perturbation or gradient-based explanation techniques. For images, these techniques fail to fully capture and convey the semantic information needed to elucidate why the model makes the predictions it does…
This paper presents two visual trackers from the different paradigms of learning and registration based tracking and evaluates their application in image based visual servoing. They can track object motion with four degrees of freedom (DoF) which, as we will show here, is sufficient for many fine manipulation tasks. One of these trackers is a newly developed learning based tracker that relies on learning discriminative correlation filters while the other is a refinement of a recent 8 DoF RANSAC based tracker adapted with a new appearance model for tracking 4 DoF motion. Both trackers are shown…
The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation employ cameras as passive sensors. These are carefully placed to view a scene from a fixed pose. Active perception allows animals to gather the most relevant information about the world and focus their computational resources where needed. It also enables them to view objects from different distances and viewpoints, providing a rich visual experience from which t…
Institute for Infocomm Research (IR), A*STAR（A*STAR资讯通信研究院（IR））；Institute for High Performance Computing (IHPC), A*STAR（A*STAR高性能计算研究院（IHPC））
We present KOVIS, a novel learning-based, calibration-free visual servoing method for fine robotic manipulation tasks with eye-in-hand stereo camera system. We train the deep neural network only in the simulated environment; and the trained model could be directly used for real-world visual servoing tasks. KOVIS consists of two networks. The first keypoint network learns the keypoint representation from the image using with an autoencoder. Then the visual servoing network learns the motion based on keypoints extracted from the camera image. The two networks are trained end-to-end in the simula…
Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from images of the current state (e.g., a bird's-eye view of a SLAM reconstruction). Instead, we show that it can be advantageous to learn with dense action representations defined in the same domain as the state. In this work, we present "spatial action maps," in which the set of possible actions is represented by a pixel map (aligned with the input image of the current state), where each pixel represents a local navigatio…
University of Waterloo（滑铁卢大学）；Waterloo Artificial Intelligence Institute（滑铁卢人工智能研究所）；DarwinAI Corp.（达尔文人工智能公司）
Researchers are actively trying to gain better insights into the representational properties of convolutional neural networks for guiding better network designs and for interpreting a network's computational nature. Gaining such insights can be an arduous task due to the number of parameters in a network and the complexity of a network's architecture. Current approaches of neural network interpretation include Bayesian probabilistic interpretations and information theoretic interpretations. In this study, we take a different approach to studying convolutional neural networks by proposing an ab…
See, Plan, Rewind: Progress-Aware Vision-Language-Action Models for Robust Robotic Manipulation
School of Information Science and Technology, University of Science and Technology of China（信息科学与技术学院，中国科学技术大学）；University of Technology Sydney（新南威尔士大学）；Department of Computer Vision, Mohamed Bin Zayed University of Artificial Intelligence（人工智能与计算机视觉系，Mohamed Bin Zayed人工智能大学）；The University of Hong Kong（香港大学）；Institute of AI for Industry, Chinese Academy of Sciences（产业人工智能研究所，中国科学院）；School of Intelligent Science and Engineering, Harbin Institute of Technology (Shenzhen)（智能科学与工程学院，哈尔滨工业大学（深圳））
Shandong University（山东大学）；University of Trento（特伦托大学）；Texas State University（德克萨斯州立大学）
Gaze correction aims to redirect the person's gaze into the camera by manipulating the eye region, and it can be considered as a specific image resynthesis problem. Gaze correction has a wide range of applications in real life, such as taking a picture with staring at the camera. In this paper, we propose a novel method that is based on the inpainting model to learn from the face image to fill in the missing eye regions with new contents representing corrected eye gaze. Moreover, our model does not require the training dataset labeled with the specific head pose and eye angle information, thus…
VERM: Leveraging Foundation Models to Create a Virtual Eye for Efficient 3D Robotic Manipulation
New Laboratory of Pattern Recognition (NLPR), State Key Laboratory of Multimodal Artificial Intelligence Systems (MAIS), Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所模式识别新技术实验室，多模态人工智能系统国家重点实验室）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）；FiveAges；Shandong University（山东大学）
Continual Hand-Eye Calibration for Open-world Robotic Manipulation
School of Automation Science and Engineering, South China University of Technology（华南理工大学自动化科学与工程学院）；State Key Laboratory of Robotics, the Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences（中国科学院机器人研究所）；University of Chinese Academy of Sciences（中国科学院大学）
Seeing-in-the-dark is one of the most important and challenging computer vision tasks due to its wide applications and extreme complexities of in-the-wild scenarios. Existing arts can be mainly divided into two threads: 1) RGB-dependent methods restore information using degraded RGB inputs only (\eg, low-light enhancement), 2) RGB-independent methods translate images captured under auxiliary near-infrared (NIR) illuminants into RGB domain (\eg, NIR2RGB translation). The latter is very attractive since it works in complete darkness and the illuminants are visually friendly to naked eyes, but te…
Recent advances in generative adversarial networks have shown that it is possible to generate high-resolution and hyperrealistic images. However, the images produced by GANs are only as fair and representative as the datasets on which they are trained. In this paper, we propose a method for directly modifying a pre-trained StyleGAN2 model that can be used to generate a balanced set of images with respect to one (e.g., eyeglasses) or more attributes (e.g., gender and eyeglasses). Our method takes advantage of the style space of the StyleGAN2 model to perform disentangled control of the target a…
Imperial College London（帝国理工学院）；Data Science Institute（数据科学研究所）
Eye movements have long been studied as a window into the attentional mechanisms of the human brain and made accessible as novelty style human-machine interfaces. However, not everything that we gaze upon, is something we want to interact with; this is known as the Midas Touch problem for gaze interfaces. To overcome the Midas Touch problem, present interfaces tend not to rely on natural gaze cues, but rather use dwell time or gaze gestures. Here we present an entirely data-driven approach to decode human intention for object manipulation tasks based solely on natural gaze cues. We run data co…
Deep Convolutional Neural Networks (DCNNs) were originally inspired by principles of biological vision, have evolved into best current computational models of object recognition, and consequently indicate strong architectural and functional parallelism with the ventral visual pathway throughout comparisons with neuroimaging and neural time series data. As recent advances in deep learning seem to decrease this similarity, computational neuroscience is challenged to reverse-engineer the biological plausibility to obtain useful models. While previous studies have shown that biologically inspired …
University of Toronto（多伦多大学）；Vector Institute（向量研究所）；Nvidia（英伟达）
The basis of many object manipulation algorithms is RGB-D input. Yet, commodity RGB-D sensors can only provide distorted depth maps for a wide range of transparent objects due light refraction and absorption. To tackle the perception challenges posed by transparent objects, we propose TranspareNet, a joint point cloud and depth completion method, with the ability to complete the depth of transparent objects in cluttered and complex scenes, even with partially filled fluid contents within the vessels. To address the shortcomings of existing transparent object data collection schemes in literatu…
International Institute of Information Technology, Hyderabad（海得拉巴国际信息技术学院）；Michigan State University（密歇根州立大学）
Impact due to demographic factors such as age, sex, race, etc., has been studied extensively in automated face recognition systems. However, the impact of \textit{digitally modified} demographic and facial attributes on face recognition is relatively under-explored. In this work, we study the effect of attribute manipulations induced via generative adversarial networks (GANs) on face recognition performance. We conduct experiments on the CelebA dataset by intentionally modifying thirteen attributes using AttGAN and STGAN and evaluating their impact on two deep learning-based face verification …
Technische Universität München（慕尼黑工业大学）；Carl Zeiss Meditec（卡尔蔡司医疗技术公司）；Sun Yat-Sen University（中山大学）；Klinikum rechts der Isar der Technische Universität München（慕尼黑工业大学 Rechts der Isar 医院）
Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery (RAS) is a promising solution that brings significant improvements in outcomes and reduces the physical limitations of human surgeons. However, this technology must be further developed before it can be routinely used in clinics. One of the problems is the lack of proper calibration between the robotic manipulator and appropriate imaging device. In this work, we developed a flexible framework for hand-eye calibration of an ophthalmic robot …
Advances in photo editing and manipulation tools have made it significantly easier to create fake imagery. Learning to detect such manipulations, however, remains a challenging problem due to the lack of sufficient amounts of manipulated training data. In this paper, we propose a learning algorithm for detecting visual image manipulations that is trained only using a large dataset of real photographs. The algorithm uses the automatically recorded photo EXIF metadata as supervisory signal for training a model to determine whether an image is self-consistent -- that is, whether its content could…
Although significant progress has been made in synthesizing high-quality and visually realistic face images by unconditional Generative Adversarial Networks (GANs), there still lacks of control over the generation process in order to achieve semantic face editing. In addition, it remains very challenging to maintain other face information untouched while editing the target attributes. In this paper, we propose a novel learning framework, called GuidedStyle, to achieve semantic face editing on StyleGAN by guiding the image generation process with a knowledge network. Furthermore, we allow an at…
Although recent gaze estimation methods lay great emphasis on attentively extracting gaze-relevant features from facial or eye images, how to define features that include gaze-relevant components has been ambiguous. This obscurity makes the model learn not only gaze-relevant features but also irrelevant ones. In particular, it is fatal for the cross-dataset performance. To overcome this challenging issue, we propose a gaze-aware analytic manipulation method, based on a data-driven approach with generative adversarial network inversion's disentanglement characteristics, to selectively utilize g…
This literature has proposed three fast and easy computable image features to improve computer vision by offering more human-like vision power. These features are not based on image pixels absolute or relative intensity; neither based on shape or colour. So, no complex pixel by pixel calculation is required. For human eyes, pixel by pixel calculation is like seeing an image with maximum zoom which is done only when a higher level of details is required. Normally, first we look at an image to get an overall idea about it to know whether it deserves further investigation or not. This capacity of…
We consider artificial agents that learn to jointly control their gripperand camera in order to reinforcement learn manipulation policies in the presenceof occlusions from distractor objects. Distractors often occlude the object of in-terest and cause it to disappear from the field of view. We propose hand/eye con-trollers that learn to move the camera to keep the object within the field of viewand visible, in coordination to manipulating it to achieve the desired goal, e.g.,pushing it to a target location. We incorporate structural biases of object-centricattention within our actor-critic arc…
German Aerospace Center (DLR)（德国航空航天中心）；Technical University of Munich (TUM)（慕尼黑工业大学）
We present a novel framework for self-supervised grasped object segmentation with a robotic manipulator. Our method successively learns an agnostic foreground segmentation followed by a distinction between manipulator and object solely by observing the motion between consecutive RGB frames. In contrast to previous approaches, we propose a single, end-to-end trainable architecture which jointly incorporates motion cues and semantic knowledge. Furthermore, while the motion of the manipulator and the object are substantial cues for our algorithm, we present means to robustly deal with distraction…
