Partial shape matching is a crucial yet underexplored problem in 3D vision, with significant relevance to real-world scenarios where shapes are often only partially observed. Existing feature descriptors face difficulties in this setting, as traditional representations either struggle with the boundaries of partial shapes or heavily depend on the shape's spatial position. While existing approaches have employed DINO features for partial shape matching, these features are not inherently suited for handling partial observations. In this work, we propose a method to refine DINO features using LoRA-based self-supervised learning, enabling the generation of feature descriptors that are robust to partiality. Our features substantially improve performance on partial shape matching compared to traditional or vision foundation features. Additionally, when integrated into existing partial shape matching pipelines, we achieve state-of-the-art results on partial shape matching and left-right prediction benchmarks.
The University of Adelaide（阿德莱德大学）；Alibaba Damo Academy（阿里巴巴达摩院）；Zhejiang University（浙江大学）
Point annotations are considerably more time-efficient than bounding box annotations. However, how to use cheap point annotations to boost the performance of semi-supervised object detection remains largely unsolved. In this work, we present Point-Teaching, a weakly semi-supervised object detection framework to fully exploit the point annotations. Specifically, we propose a Hungarian-based point matching method to generate pseudo labels for point annotated images. We further propose multiple instance learning (MIL) approaches at the level of images and points to supervise the object detector w…
The Chinese University of Hong Kong（香港中文大学）；Shanghai AI Laboratory（上海人工智能实验室）
Semi-Supervised Semantic Segmentation aims at training the segmentation model with limited labeled data and a large amount of unlabeled data. To effectively leverage the unlabeled data, pseudo labeling, along with the teacher-student framework, is widely adopted in semi-supervised semantic segmentation. Though proved to be effective, this paradigm suffers from incorrect pseudo labels which inevitably exist and are taken as auxiliary training data. To alleviate the negative impact of incorrect pseudo labels, we delve into the current Semi-Supervised Semantic Segmentation frameworks. We argue th…
Supervised learning based object detection frameworks demand plenty of laborious manual annotations, which may not be practical in real applications. Semi-supervised object detection (SSOD) can effectively leverage unlabeled data to improve the model performance, which is of great significance for the application of object detection models. In this paper, we revisit SSOD and propose Instant-Teaching, a completely end-to-end and effective SSOD framework, which uses instant pseudo labeling with extended weak-strong data augmentations for teaching during each training iteration. To alleviate the …
Tsinghua University（清华大学）；University of Michigan（密歇根大学）
Monocular 3D object detection is an essential perception task for autonomous driving. However, the high reliance on large-scale labeled data make it costly and time-consuming during model optimization. To reduce such over-reliance on human annotations, we propose Mix-Teaching, an effective semi-supervised learning framework applicable to employ both labeled and unlabeled images in training stage. Mix-Teaching first generates pseudo-labels for unlabeled images by self-training. The student model is then trained on the mixed images possessing much more intensive and precise labeling by merging i…
Armed Forces Yangju Hospital（杨州武装部队医院）；Seoul National University（首尔国立大学）
For more clinical applications of deep learning models for medical image segmentation, high demands on labeled data and computational resources must be addressed. This study proposes a coarse-to-fine framework with two teacher models and a student model that combines knowledge distillation and cross teaching, a consistency regularization based on pseudo-labels, for efficient semi-supervised learning. The proposed method is demonstrated on the abdominal multi-organ segmentation task in CT images under the MICCAI FLARE 2022 challenge, with mean Dice scores of 0.8429 and 0.8520 in the validation …
SAM-Driven Weakly Supervised Nodule Segmentation with Uncertainty-Aware Cross Teaching
School of Software Engineering, Xi’an Jiaotong University（西安交通大学软件学院）；University of Electronic Science and Technology of China（电子科技大学）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；Xiangya Hospital, Central South University（中南大学湘雅医院）；Hunan Frontline Medical Technology Co., Ltd（湖南前沿医疗科技有限公司）
University of Electronic Science and Technology of China（电子科技大学）；Shanghai AI Lab（上海人工智能实验室）；SenseTime（商汤科技）
Recently, deep learning with Convolutional Neural Networks (CNNs) and Transformers has shown encouraging results in fully supervised medical image segmentation. However, it is still challenging for them to achieve good performance with limited annotations for training. In this work, we present a very simple yet efficient framework for semi-supervised medical image segmentation by introducing the cross teaching between CNN and Transformer. Specifically, we simplify the classical deep co-training from consistency regularization to cross teaching, where the prediction of a network is used as the …
We present SMURF, a method for unsupervised learning of optical flow that improves state of the art on all benchmarks by $36\%$ to $40\%$ (over the prior best method UFlow) and even outperforms several supervised approaches such as PWC-Net and FlowNet2. Our method integrates architecture improvements from supervised optical flow, i.e. the RAFT model, with new ideas for unsupervised learning that include a sequence-aware self-supervision loss, a technique for handling out-of-frame motion, and an approach for learning effectively from multi-frame video data while still only requiring two frames …
Collaborative Static-Dynamic Teaching: A Semi-Supervised Framework for Stripe-Like Space Target Detection
National Key Laboratory of Optical Field Manipulation Science and Technology, Chinese Academy of Sciences（中国科学院光场操纵科学技术重点实验室）；Institute of Optics and Electronics, Chinese Academy of Sciences（中国科学院光电技术研究所）；Key Laboratory of Science and Technology on Space Optoelectronic Precision Measurement, Chinese Academy of Sciences（中国科学院空间光电精密测量科学技术重点实验室）；University of Chinese Academy of Sciences（中国科学院大学）；College of Science, Australian National University（澳大利亚国立大学理学院）
Current weakly supervised semantic segmentation (WSSS) frameworks usually contain the separated mask-refinement model and the main semantic region mining model. These approaches would contain redundant feature extraction backbones and biased learning objectives, making them computational complex yet sub-optimal to addressing the WSSS task. To solve this problem, this paper establishes a compact learning framework that embeds the classification and mask-refinement components into a unified deep model. With the shared feature extraction backbone, our model is able to facilitate knowledge sharing…
Diverse Teaching and Label Propagation for Generic Semi-Supervised Medical Image Segmentation
Beijing Information Science and Technology National Research Center (BNRIST), Tsinghua University（北京信息科学与技术国家级研究中（BNRIST）、清华大学）；National University of Singapore College of Design and Engineering（新加坡国立大学设计与工程学院）；The 15th Institute of China Electronics Technology Group Corporation（中国电子科技集团第十五研究所）；School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications（北京邮电大学智能工程与自动化学院）
S$^2$ME: Spatial-Spectral Mutual Teaching and Ensemble Learning for Scribble-supervised Polyp Segmentation
The Chinese University of Hong Kong（香港中文大学）；National University of Singapore（新加坡国立大学）；Hubei University of Technology（湖北工业大学）；University College London（伦敦大学学院）
The major driving force behind the immense success of deep learning models is the availability of large datasets along with their clean labels. Unfortunately, this is very difficult to obtain, which has motivated research on the training of deep models in the presence of label noise and ways to avoid over-fitting on the noisy labels. In this work, we build upon the seminal work in this area, Co-teaching and propose a simple, yet efficient approach termed mCT-S2R (modified co-teaching with self-supervision and re-labeling) for this task. First, to deal with significant amount of noise in the la…
CoopHash: Cooperative Learning of Multipurpose Descriptor and Contrastive Pair Generator via Variational MCMC Teaching for Supervised Image Hashing
College of Engineering and Computer Science, VinUniversity（VinUniversity工程与计算机科学学院）；Akool Research（Akool研究院）；Department of Statistics and Data Science, UCLA（加州大学洛杉矶分校统计与数据科学系）；Google Research（谷歌研究院）；VecML
针对监督图像哈希标注不足及 GAN 难联合训练的问题，提出基于能量协同学习的 CoopHash，联合训练对比图像生成器与多用途描述器，取得最高 10% 相对提升。
University of Florida（佛罗里达大学）；University of Missouri（密苏里大学）
A semi-supervised Partial Membership Latent Dirichlet Allocation approach is developed for hyperspectral unmixing and endmember estimation while accounting for spectral variability and spatial information. Partial Membership Latent Dirichlet Allocation is an effective approach for spectral unmixing while representing spectral variability and leveraging spatial information. In this work, we extend Partial Membership Latent Dirichlet Allocation to incorporate any available (imprecise) label information to help guide unmixing. Experimental results on two hyperspectral datasets show that the propo…
Benefiting from masked visual modeling, self-supervised video representation learning has achieved remarkable progress. However, existing methods focus on learning representations from scratch through reconstructing low-level features like raw pixel RGB values. In this paper, we propose masked video distillation (MVD), a simple yet effective two-stage masked feature modeling framework for video representation learning: firstly we pretrain an image (or video) model by recovering low-level features of masked patches, then we use the resulting features as targets for masked feature modeling. For …
Temporal sentence grounding aims to detect the event timestamps described by the natural language query from given untrimmed videos. The existing fully-supervised setting achieves great performance but requires expensive annotation costs; while the weakly-supervised setting adopts cheap labels but performs poorly. To pursue high performance with less annotation cost, this paper introduces an intermediate partially-supervised setting, i.e., only short-clip or even single-frame labels are available during training. To take full advantage of partial labels, we propose a novel quadruple constraint…
NEC Labs America（NEC美国实验室）；National Yang Ming Chiao Tung University（阳明交通大学）
Self-supervised learning on point clouds has gained a lot of attention recently, since it addresses the label-efficiency and domain-gap problems on point cloud tasks. In this paper, we propose a novel self-supervised framework to learn informative representations from partial point clouds. We leverage partial point clouds scanned by LiDAR that contain both content and pose attributes, and we show that disentangling such two factors from partial point clouds enhances feature representation learning. To this end, our framework consists of three main parts: 1) a completion network to capture holi…
Hong Kong University of Science and Technology（香港科技大学）；Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））；Kwai Inc.（快手公司）
Partially supervised instance segmentation aims to perform learning on limited mask-annotated categories of data thus eliminating expensive and exhaustive mask annotation. The learned models are expected to be generalizable to novel categories. Existing methods either learn a transfer function from detection to segmentation, or cluster shape priors for segmenting novel categories. We propose to learn the underlying class-agnostic commonalities that can be generalized from mask-annotated categories to novel categories. Specifically, we parse two types of commonalities: 1) shape commonalities wh…
Recent work on 4D point cloud sequences has attracted a lot of attention. However, obtaining exhaustively labeled 4D datasets is often very expensive and laborious, so it is especially important to investigate how to utilize raw unlabeled data. However, most existing self-supervised point cloud representation learning methods only consider geometry from a static snapshot omitting the fact that sequential observations of dynamic scenes could reveal more comprehensive geometric details. And the video representation learning frameworks mostly model motion as image space flows, let alone being 3D-…
Rutgers University（罗格斯大学）；SenseBrain Technology Limited LLC（SenseBrain科技有限公司）；Rutgers New Jersey Medical School（罗格斯大学新泽西医学院）；SenseTime Research（商汤科技研究院）；Rutgers Cancer Institute of New Jersey（罗格斯大学新泽西癌症研究所）
Nuclei segmentation is a fundamental task in histopathology image analysis. Typically, such segmentation tasks require significant effort to manually generate accurate pixel-wise annotations for fully supervised training. To alleviate such tedious and manual effort, in this paper we propose a novel weakly supervised segmentation framework based on partial points annotation, i.e., only a small portion of nuclei locations in each image are labeled. The framework consists of two learning stages. In the first stage, we design a semi-supervised strategy to learn a detection model from partially lab…
Shanghai Jiao Tong University（上海交通大学）；Wuhan University（武汉大学）；East China Normal University（华东师范大学）；Aerospace Information Research Institute（航天信息研究所）；Southeast University（东南大学）
Uber Advanced Technologies Group（优步先进技术集团）；University of California, San Diego（加州大学圣迭戈分校）；University of Toronto（多伦多大学）
3D shape completion for real data is important but challenging, since partial point clouds acquired by real-world sensors are usually sparse, noisy and unaligned. Different from previous methods, we address the problem of learning 3D complete shape from unaligned and real-world partial point clouds. To this end, we propose a weakly-supervised method to estimate both 3D canonical shape and 6-DoF pose for alignment, given multiple partial observations associated with the same instance. The network jointly optimizes canonical shapes and poses with multi-view geometry constraints during training, …
Deep learning techniques have been widely used in autonomous driving systems for the semantic understanding of urban scenes. However, they need a huge amount of labeled data for training, which is difficult and expensive to acquire. A recently proposed workaround is to train deep networks using synthetic data, but the domain shift between real world and synthetic representations limits the performance. In this work, a novel Unsupervised Domain Adaptation (UDA) strategy is introduced to solve this issue. The proposed learning strategy is driven by three components: a standard supervised learnin…
Partially Supervised Unpaired Multi-Modal Learning for Label-Efficient Medical Image Segmentation
Institute of High Performance Computing (IHPC), Agency for Science, Technology and Research (A*STAR)（高性能计算研究所（A*STAR））；The Joint SDU-NTU Centre for Artificial Intelligence Research (C-FAIR), Shandong University（山东大学-新加坡南洋理工大学人工智能联合研究中心）
Holistic person re-identification (Re-ID) and partial person re-identification have achieved great progress respectively in recent years. However, scenarios in reality often include both holistic and partial pedestrian images, which makes single holistic or partial person Re-ID hard to work. In this paper, we propose a robust coarse granularity part-level person Re-ID network (CGPN), which not only extracts robust regional level body features, but also integrates supervised global features for both holistic and partial person images. CGPN gains two-fold benefit toward higher accuracy for perso…
University of Liverpool（利物浦大学）；University of Edinburgh（爱丁堡大学）
Place recognition is key to Simultaneous Localization and Mapping (SLAM) and spatial perception. However, a place recognition in the wild often suffers from erroneous predictions due to image variations, e.g., changing viewpoints and street appearance. Integrating uncertainty estimation into the life cycle of place recognition is a promising method to mitigate the impact of variations on place recognition performance. However, existing uncertainty estimation approaches in this vein are either computationally inefficient (e.g., Monte Carlo dropout) or at the cost of dropped accuracy. This paper…
Point cloud completion addresses filling in the missing parts of a partial point cloud obtained from depth sensors and generating a complete point cloud. Although there has been steep progress in the supervised methods on the synthetic point cloud completion task, it is hardly applicable in real-world scenarios due to the domain gap between the synthetic and real-world datasets or the requirement of prior information. To overcome these limitations, we propose a novel self-supervised framework ACL-SPC for point cloud completion to train and test on the same data. ACL-SPC takes a single partial …
In the object detection task, merging various datasets from similar contexts but with different sets of Objects of Interest (OoI) is an inexpensive way (in terms of labor cost) for crafting a large-scale dataset covering a wide range of objects. Moreover, merging datasets allows us to train one integrated object detector, instead of training several ones, which in turn resulting in the reduction of computational and time costs. However, merging the datasets from similar contexts causes samples with partial labeling as each constituent dataset is originally annotated for its own set of OoI and …
When navigating in urban environments, many of the objects that need to be tracked and avoided are heavily occluded. Planning and tracking using these partial scans can be challenging. The aim of this work is to learn to complete these partial point clouds, giving us a full understanding of the object's geometry using only partial observations. Previous methods achieve this with the help of complete, ground-truth annotations of the target objects, which are available only for simulated datasets. However, such ground truth is unavailable for real-world LiDAR data. In this work, we present a sel…
Progress in 3D object understanding has relied on manually canonicalized shape datasets that contain instances with consistent position and orientation (3D pose). This has made it hard to generalize these methods to in-the-wild shapes, eg., from internet model collections or depth sensors. ConDor is a self-supervised method that learns to Canonicalize the 3D orientation and position for full and partial 3D point clouds. We build on top of Tensor Field Networks (TFNs), a class of permutation- and rotation-equivariant, and translation-invariant 3D networks. During inference, our method takes an …
Teaching dexterity to multi-fingered robots has been a longstanding challenge in robotics. Most prominent work in this area focuses on learning controllers or policies that either operate on visual observations or state estimates derived from vision. However, such methods perform poorly on fine-grained manipulation tasks that require reasoning about contact forces or about objects occluded by the hand itself. In this work, we present T-Dex, a new approach for tactile-based dexterity, that operates in two phases. In the first phase, we collect 2.5 hours of play data, which is used to train self…
