'Actions' play a vital role in how humans interact with the world. Thus, autonomous agents that would assist us in everyday tasks also require the capability to perform 'Reasoning about Actions & Change' (RAC). Recently, there has been growing interest in the study of RAC with visual and linguistic inputs. Graphs are often used to represent semantic structure of the visual content (i.e. objects, their attributes and relationships among objects), commonly referred to as scene-graphs. In this work, we propose a novel method that leverages scene-graph representation of images to reason about the effects of actions described in natural language. We experiment with existing CLEVR_HYP (Sampat et. al, 2021) dataset and show that our proposed approach is effective in terms of performance, data efficiency, and generalization capability compared to existing models.
Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots
Faculty of Robotics Perception and Learning, KTH Royal Institute of Technology（机器人感知与学习学院，皇家理工学院）；Institute for Artificial Intelligence, University of Stuttgart（人工智能研究所，斯图加特大学）；International Max Planck Research School for Intelligent Systems (IMPRS-IS)（智能系统国际马克斯·普朗克研究学校）
University of Maryland, College Park（马里兰大学帕克分校）；Comcast Applied AI Research（康卡斯特应用人工智能研究院）；DeepMind（深度思维）；Adobe Research（奥多比研究院）；University of Maryland（马里兰大学）
We address the recognition of agent-in-place actions, which are associated with agents who perform them and places where they occur, in the context of outdoor home surveillance. We introduce a representation of the geometry and topology of scene layouts so that a network can generalize from the layouts observed in the training set to unseen layouts in the test set. This Layout-Induced Video Representation (LIVR) abstracts away low-level appearance variance and encodes geometric and topological relationships of places in a specific scene layout. LIVR partitions the semantic features of a video …
SCLARO: A Dataset for Grounded Scenario-Level Scene Understanding and ScenarioCLIP for Benchmarking
Machine Intelligence Group, Department of CS&IS, Birla Institute of Technology and Science, Pilani – Hyderabad Campus（人工智能组，计算机科学与信息系，比拉理工学院和科学学院，比拉-海得拉巴校区）
GSIS, Tohoku University（东北大学信息科学研究科）；RIKEN Center for AIP（理化学研究所革新智能统合研究中心）；Socionext Inc.（索喜株式会社）
This paper considers matching images of low-light scenes, aiming to widen the frontier of SfM and visual SLAM applications. Recent image sensors can record the brightness of scenes with more than eight-bit precision, available in their RAW-format image. We are interested in making full use of such high-precision information to match extremely low-light scene images that conventional methods cannot handle. For extreme low-light scenes, even if some of their brightness information exists in the RAW format images' low bits, the standard raw image processing on cameras fails to utilize them proper…
Shanghai University（上海大学）；Shanghai Institute for Advanced Communication and Data Science（上海先进通信与数据科学研究院）
Recently, video scene text detection has received increasing attention due to its comprehensive applications. However, the lack of annotated scene text video datasets has become one of the most important problems, which hinders the development of video scene text detection. The existing scene text video datasets are not large-scale due to the expensive cost caused by manual labeling. In addition, the text instances in these datasets are too clear to be a challenge. To address the above issues, we propose a tracking based semi-automatic labeling strategy for scene text videos in this paper. We …
Towards Student Actions in Classroom Scenes: New Dataset and Baseline
School of Communications and Information Engineering, Chongqing University of Posts and Telecommunications（重庆邮电大学通信与信息工程学院）；School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University（中山大学深圳校区智能系统工程学院）
Xi’an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences（中国科学院西安光学精密机械研究所）；University of Chinese Academy of Sciences（中国科学院大学）
Remote sensing scene classification aims to assign a specific semantic label to a remote sensing image. Recently, convolutional neural networks have greatly improved the performance of remote sensing scene classification. However, some confused images may be easily recognized as the incorrect category, which generally degrade the performance. The differences between image pairs can be used to distinguish image categories. This paper proposed a pairwise comparison network, which contains two main steps: pairwise selection and pairwise representation. The proposed network first selects similar i…
Aalto University（阿尔托大学）；Indian Institute of Technology, Delhi（印度理工学院德里分校）
We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative pose between the query and the database images, whose poses are known. The camera location for the query image is obtained via triangulation from two relative translation estimates using a RANSAC based approach. Each relative pose estimate provides a hypothesis for the camera orientation and they are fused in a second RANSAC scheme. The neural network is tra…
We present SynPick, a synthetic dataset for dynamic scene understanding in bin-picking scenarios. In contrast to existing datasets, our dataset is both situated in a realistic industrial application domain -- inspired by the well-known Amazon Robotics Challenge (ARC) -- and features dynamic scenes with authentic picking actions as chosen by our picking heuristic developed for the ARC 2017. The dataset is compatible with the popular BOP dataset format. We describe the dataset generation process in detail, including object arrangement generation and manipulation simulation using the NVIDIA PhysX…
Action recognition has typically treated actions and activities as monolithic events that occur in videos. However, there is evidence from Cognitive Science and Neuroscience that people actively encode activities into consistent hierarchical part structures. However in Computer Vision, few explorations on representations encoding event partonomies have been made. Inspired by evidence that the prototypical unit of an event is an action-object interaction, we introduce Action Genome, a representation that decomposes actions into spatio-temporal scene graphs. Action Genome captures changes betwee…
University of Wollongong（卧龙岗大学）；China University of Geosciences（中国地质大学）
Scene flow describes the motion of 3D objects in real world and potentially could be the basis of a good feature for 3D action recognition. However, its use for action recognition, especially in the context of convolutional neural networks (ConvNets), has not been previously studied. In this paper, we propose the extraction and use of scene flow for action recognition from RGB-D data. Previous works have considered the depth and RGB modalities as separate channels and extract features for later fusion. We take a different approach and consider the modalities as one entity, thus allowing featur…
This paper investigates the problem of zero-shot action recognition, in the setting where no training videos with seen actions are available. For this challenging scenario, the current leading approach is to transfer knowledge from the image domain by recognizing objects in videos using pre-trained networks, followed by a semantic matching between objects and actions. Where objects provide a local view on the content in videos, in this work we also seek to include a global view of the scene in which actions occur. We find that scenes on their own are also capable of recognizing unseen actions,…
Wuhan University of Technology（武汉理工大学）；National University of Singapore（新加坡国立大学）
Action recognition is a critical task for social robots to meaningfully engage with their environment. 3D human skeleton-based action recognition is an attractive research area in recent years. Although, the existing approaches are good at action recognition, it is a great challenge to recognize a group of actions in an activity scene. To tackle this problem, at first, we partition the scene into several primitive actions (PAs) based upon motion attention mechanism. Then, the primitive actions are described by the trajectory vectors of corresponding joints. After that, motivated by text classi…
Human activities often occur in specific scene contexts, e.g., playing basketball on a basketball court. Training a model using existing video datasets thus inevitably captures and leverages such bias (instead of using the actual discriminative cues). The learned representation may not generalize well to new action classes or different tasks. In this paper, we propose to mitigate scene bias for video representation learning. Specifically, we augment the standard cross-entropy loss for action classification with 1) an adversarial loss for scene types and 2) a human mask confusion loss for video…
National University of Singapore（新加坡国立大学）；YITU Technology（依图科技）
Detecting and recognizing human action in videos with crowded scenes is a challenging problem due to the complex environment and diversity events. Prior works always fail to deal with this problem in two aspects: (1) lacking utilizing information of the scenes; (2) lacking training data in the crowd and complex scenes. In this paper, we focus on improving spatio-temporal action recognition by fully-utilizing the information of scenes and collecting new data. A top-down strategy is used to overcome the limitations. Specifically, we adopt a strong human detector to detect the spatial location of…
Anomalous Frame Detection Using VLM-Based Description Comparison for Extracting Expert-Specific Actions and Contextual Decision-Making Scenes with Intra-Video Self-Similarity
The aim of this work is to contribute to the development of a tactile device for visually impaired and blind persons in order to let them to understand actions of the surrounding people and to interact with them. First, based on the state-of-the-art methods of human action recognition from RGB-D sequences, we use the skeleton information provided by Kinect, with the disentangled and unified multi-scale Graph Convolutional (MS-G3D) model to recognize the performed actions. We tested this model on real scenes and found some of constraints and limitations. Next, we apply a fusion between skeleton…
SMART: Scene-motion-aware human action recognition framework for mental disorder group
Shanghai Jiao Tong University（上海交通大学）；School of Electronic Information and Electrical Engineering（电子信息与电气工程学院）；Shanghai Key Laboratory of Navigation and Location-based Services（上海市导航与位置服务重点实验室）
University of Pennsylvania（宾夕法尼亚大学）；University of Minnesota（明尼苏达大学）
This paper studies a problem of inverse visual path planning: creating a visual scene from a first person action. Our conjecture is that the spatial arrangement of a first person visual scene is deployed to afford an action, and therefore, the action can be inversely used to synthesize a new scene such that the action is feasible. As a proof-of-concept, we focus on linking visual experiences induced by walking. A key innovation of this paper is a concept of ActionTunnel---a 3D virtual tunnel along the future trajectory encoding what the wearer will visually experience as moving into the scene.…
École Polytechnique Fédérale de Lausanne (EPFL)（洛桑联邦理工学院）；Stanford University（斯坦福大学）；IDIAP Research Institute（IDIAP研究所）
We present a unified framework for understanding human social behaviors in raw image sequences. Our model jointly detects multiple individuals, infers their social actions, and estimates the collective actions with a single feed-forward pass through a neural network. We propose a single architecture that does not rely on external detection algorithms but rather is trained end-to-end to generate dense proposal maps that are refined via a novel inference scheme. The temporal consistency is handled via a person-level matching Recurrent Neural Network. The complete model takes as input a sequence …
Generating Multimodal Driving Scenes via Next-Scene Prediction
School of Software Engineering, XJTU（西安交通大学软件学院）；Horizon Robotics（地平线机器人）；School of Computer and Communication Sciences, EPFL（洛桑联邦理工学院计算机与通信科学学院）；University of Chinese Academy of Sciences（中国科学院大学）
SAMoE-VLA: A Scene Adaptive Mixture-of-Experts Vision-Language-Action Model for Autonomous Driving
Institute for AI Industry Research (AIR), Tsinghua University（人工智能产业研究院（AIR），清华大学）；School of Instrument Science and Engineering, Southeast University（仪器科学与工程学院，东南大学）；Zhili College, Tsinghua University（紫荆学院，清华大学）；School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（人工智能与自动化学院，华中科技大学）；Department of Automation, University of Science and Technology of China（自动化学院，中国科学技术大学）；Department of Automation, University of Science and Technology Beijing（自动化学院，北京科技大学）
the University of Adelaide（阿德莱德大学）；University of Liverpool（利物浦大学）
As the post-processing step for object detection, non-maximum suppression (GreedyNMS) is widely used in most of the detectors for many years. It is efficient and accurate for sparse scenes, but suffers an inevitable trade-off between precision and recall in crowded scenes. To overcome this drawback, we propose a Pairwise-NMS to cure GreedyNMS. Specifically, a pairwise-relationship network that is based on deep learning is learned to predict if two overlapping proposal boxes contain two objects or zero/one object, which can handle multiple overlapping objects effectively. Through neatly couplin…
Nanyang Technological University（南洋理工大学）；Salesforce Research Asia（Salesforce亚洲研究院）；Monash University（莫纳什大学）；Adobe Research（Adobe研究院）；Alibaba Group（阿里巴巴集团）
Most of current image captioning models heavily rely on paired image-caption datasets. However, getting large scale image-caption paired data is labor-intensive and time-consuming. In this paper, we present a scene graph-based approach for unpaired image captioning. Our framework comprises an image scene graph generator, a sentence scene graph generator, a scene graph encoder, and a sentence decoder. Specifically, we first train the scene graph encoder and the sentence decoder on the text modality. To align the scene graphs between images and sentences, we propose an unsupervised feature align…
Self-supervised representation learning is a critical problem in computer vision, as it provides a way to pretrain feature extractors on large unlabeled datasets that can be used as an initialization for more efficient and effective training on downstream tasks. A promising approach is to use contrastive learning to learn a latent space where features are close for similar data samples and far apart for dissimilar ones. This approach has demonstrated tremendous success for pretraining both image and point cloud feature extractors, but it has been barely investigated for multi-modal RGB-D scans…
Oxford Robotics Institute（牛津机器人研究所）；University of Oxford（牛津大学）
This work explores scene graphs as a distilled representation of high-level information for autonomous driving, applied to future driver-action prediction. Given the scarcity and strong imbalance of data samples, we propose a self-supervision pipeline to infer representative and well-separated embeddings. Key aspects are interpretability and explainability; as such, we embed in our architecture attention mechanisms that can create spatial and temporal heatmaps on the scene graphs. We evaluate our system on the ROAD dataset against a fully-supervised approach, showing the superiority of our tra…
Tsinghua University（清华大学）；Tsinghua Shenzhen International Graduate School（清华大学深圳国际研究生院）
In this paper, we propose a Point-Voxel Recurrent All-Pairs Field Transforms (PV-RAFT) method to estimate scene flow from point clouds. Since point clouds are irregular and unordered, it is challenging to efficiently extract features from all-pairs fields in the 3D space, where all-pairs correlations play important roles in scene flow estimation. To tackle this problem, we present point-voxel correlation fields, which capture both local and long-range dependencies of point pairs. To capture point-based correlations, we adopt the K-Nearest Neighbors search that preserves fine-grained informatio…
Nanjing University（南京大学）；Tencent AI Lab（腾讯人工智能实验室）；Fudan University（复旦大学）；Shanghai AI Lab（上海人工智能实验室）
The relation modeling between actors and scene context advances video action detection where the correlation of multiple actors makes their action recognition challenging. Existing studies model each actor and scene relation to improve action recognition. However, the scene variations and background interference limit the effectiveness of this relation modeling. In this paper, we propose to select actor-related scene context, rather than directly leverage raw video scenario, to improve relation modeling. We develop a Cycle Actor-Context Relation network (CycleACR) where there is a symmetric gr…
Malong Technologies（马泷科技）；Shenzhen Malong Artificial Intelligence Research Center（深圳马泷人工智能研究中心）；State Key Lab for Novel Software Technology, Nanjing University（南京大学计算机科学与技术系（新型软件技术国家重点实验室））
In this work, we propose Knowledge Integration Networks (referred as KINet) for video action recognition. KINet is capable of aggregating meaningful context features which are of great importance to identifying an action, such as human information and scene context. We design a three-branch architecture consisting of a main branch for action recognition, and two auxiliary branches for human parsing and scene recognition which allow the model to encode the knowledge of human and scene for action recognition. We explore two pre-trained models as teacher networks to distill the knowledge of human…
University of Birmingham（伯明翰大学）；Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）；CISPA Helmholtz Center i.G.（CISPA亥姆霍兹中心）
In-depth scene descriptions and question answering tasks have greatly increased the scope of today's definition of scene understanding. While such tasks are in principle open ended, current formulations primarily focus on describing only the current state of the scenes under consideration. In contrast, in this paper, we focus on the future states of the scenes which are also conditioned on actions. We posit this as a question answering task, where an answer has to be given about a future scene state, given observations of the current scene, and a question that includes a hypothetical action. O…
