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Deva Ramanan

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Published work

39 published item(s)

preprint2026arXiv

Elastic Attention Cores for Scalable Vision Transformers

Vision Transformers (ViTs) achieve strong data-driven scaling by leveraging all-to-all self-attention. However, this flexibility incurs a computational cost that scales quadratically with image resolution, limiting ViTs in high-resolution domains. Underlying this approach is the assumption that pairwise token interactions are necessary for learning rich visual-semantic representations. In this work, we challenge this assumption, demonstrating that effective visual representations can be learned without any direct patch-to-patch interaction. We propose VECA (Visual Elastic Core Attention), a vision transformer architecture that uses efficient linear-time core-periphery structured attention enabled by a small set of learned cores. In VECA, these cores act as a communication interface: patch tokens exchange information exclusively through the core tokens, which are initialized from scratch and propagated across layers. Because the $N$ image patches only directly interact with a resolution invariant set of $C$ learned "core" embeddings, this yields linear complexity $O(N)$ for predetermined $C$, which bypasses quadratic scaling. Compared to prior cross-attention architectures, VECA maintains and iteratively updates the full set of $N$ input tokens, avoiding a small $C$-way bottleneck. Combined with nested training along the core axis, our model can elastically trade off compute and accuracy during inference. Across classification and dense tasks, VECA achieves performance competitive with the latest vision foundation models while reducing computational cost. Our results establish elastic core-periphery attention as a scalable alternative building block for Vision Transformers.

preprint2026arXiv

Prognostic Value of Lung Ultrasound Biomarkers for Readmission Risk in Congestive Heart Failure: A Pilot Data-Driven Analysis

Hospital readmission within 30 days of discharge is a leading driver of morbidity, mortality, and avoidable healthcare expenditure in congestive heart failure (CHF). Current clinical risk stratification tools rely primarily on non-imaging data and exhibit limited predictive performance. Point-of-care lung ultrasound (LUS) offers a sensitive, noninvasive window into the pulmonary congestion that characterizes CHF decompensation, yet its prognostic utility for readmission prediction remains largely unexplored. We present a pilot feasibility study, the first systematic machine learning study using B-mode LUS acquired during hospitalization to predict 30-day CHF readmission. Quantitative spatiotemporal embeddings are extracted from a pretrained Temporal Shift Module (TSM) ResNet-18 encoder, and interpretable biomarker features are separately evaluated. Through structured ablations over lung view, temporal representation, multi-view fusion, and cross-lung augmentation, we identify the key imaging factors driving readmission risk. Our findings reveal that (1) dependent lower-lung regions (Left-3, Right-3) carry the strongest prognostic signal, consistent with their greater susceptibility to hydrostatic congestion; (2) temporal difference features between sequential examinations substantially outperform single-timepoint representations, highlighting the importance of capturing disease trajectory; and (3) multi-view feature concatenation yields the best overall performance, with our top MLP model achieving an F1 score of 0.80 (95% CI: 0.62-0.96). Biomarker analysis further reveals that pleural-line abnormalities, including breaks and indentations, are as informative as the canonical A-line and B-line markers. These results support POCUS-derived biomarkers as practical, interpretable tools for noninvasive CHF risk stratification.

preprint2026arXiv

Reconstruct, Inpaint, Test-Time Finetune: Dynamic Novel-view Synthesis from Monocular Videos

We explore novel-view synthesis for dynamic scenes from monocular videos. Prior approaches rely on costly test-time optimization of 4D representations or do not preserve scene geometry when trained in a feed-forward manner. Our approach is based on three key insights: (1) covisible pixels (that are visible in both the input and target views) can be rendered by first reconstructing the dynamic 3D scene and rendering the reconstruction from the novel-views and (2) hidden pixels in novel views can be "inpainted" with feed-forward 2D video diffusion models. Notably, our video inpainting diffusion model (CogNVS) can be self-supervised from 2D videos, allowing us to train it on a large corpus of in-the-wild videos. This in turn allows for (3) CogNVS to be applied zero-shot to novel test videos via test-time finetuning. We empirically verify that CogNVS outperforms almost all prior art for novel-view synthesis of dynamic scenes from monocular videos.

preprint2023arXiv

Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting

We introduce Argoverse 2 (AV2) - a collection of three datasets for perception and forecasting research in the self-driving domain. The annotated Sensor Dataset contains 1,000 sequences of multimodal data, encompassing high-resolution imagery from seven ring cameras, and two stereo cameras in addition to lidar point clouds, and 6-DOF map-aligned pose. Sequences contain 3D cuboid annotations for 26 object categories, all of which are sufficiently-sampled to support training and evaluation of 3D perception models. The Lidar Dataset contains 20,000 sequences of unlabeled lidar point clouds and map-aligned pose. This dataset is the largest ever collection of lidar sensor data and supports self-supervised learning and the emerging task of point cloud forecasting. Finally, the Motion Forecasting Dataset contains 250,000 scenarios mined for interesting and challenging interactions between the autonomous vehicle and other actors in each local scene. Models are tasked with the prediction of future motion for "scored actors" in each scenario and are provided with track histories that capture object location, heading, velocity, and category. In all three datasets, each scenario contains its own HD Map with 3D lane and crosswalk geometry - sourced from data captured in six distinct cities. We believe these datasets will support new and existing machine learning research problems in ways that existing datasets do not. All datasets are released under the CC BY-NC-SA 4.0 license.

preprint2022arXiv

Differentiable Soft-Masked Attention

Transformers have become prevalent in computer vision due to their performance and flexibility in modelling complex operations. Of particular significance is the 'cross-attention' operation, which allows a vector representation (e.g. of an object in an image) to be learned by attending to an arbitrarily sized set of input features. Recently, "Masked Attention" was proposed in which a given object representation only attends to those image pixel features for which the segmentation mask of that object is active. This specialization of attention proved beneficial for various image and video segmentation tasks. In this paper, we propose another specialization of attention which enables attending over `soft-masks' (those with continuous mask probabilities instead of binary values), and is also differentiable through these mask probabilities, thus allowing the mask used for attention to be learned within the network without requiring direct loss supervision. This can be useful for several applications. Specifically, we employ our "Differentiable Soft-Masked Attention" for the task of Weakly-Supervised Video Object Segmentation (VOS), where we develop a transformer-based network for VOS which only requires a single annotated image frame for training, but can also benefit from cycle consistency training on a video with just one annotated frame. Although there is no loss for masks in unlabeled frames, the network is still able to segment objects in those frames due to our novel attention formulation. Code: https://github.com/Ali2500/HODOR/blob/main/hodor/modelling/encoder/soft_masked_attention.py

preprint2022arXiv

Evaluating Large-Vocabulary Object Detectors: The Devil is in the Details

By design, average precision (AP) for object detection aims to treat all classes independently: AP is computed independently per category and averaged. On one hand, this is desirable as it treats all classes equally. On the other hand, it ignores cross-category confidence calibration, a key property in real-world use cases. Unfortunately, under important conditions (i.e., large vocabulary, high instance counts) the default implementation of AP is neither category independent, nor does it directly reward properly calibrated detectors. In fact, we show that on LVIS the default implementation produces a gameable metric, where a simple, un-intuitive re-ranking policy can improve AP by a large margin. To address these limitations, we introduce two complementary metrics. First, we present a simple fix to the default AP implementation, ensuring that it is independent across categories as originally intended. We benchmark recent LVIS detection advances and find that many reported gains do not translate to improvements under our new evaluation, suggesting recent improvements may arise from difficult to interpret changes to cross-category rankings. Given the importance of reliably benchmarking cross-category rankings, we consider a pooled version of AP (AP-Pool) that rewards properly calibrated detectors by directly comparing cross-category rankings. Finally, we revisit classical approaches for calibration and find that explicitly calibrating detectors improves state-of-the-art on AP-Pool by 1.7 points

preprint2022arXiv

Forecasting from LiDAR via Future Object Detection

Object detection and forecasting are fundamental components of embodied perception. These two problems, however, are largely studied in isolation by the community. In this paper, we propose an end-to-end approach for detection and motion forecasting based on raw sensor measurement as opposed to ground truth tracks. Instead of predicting the current frame locations and forecasting forward in time, we directly predict future object locations and backcast to determine where each trajectory began. Our approach not only improves overall accuracy compared to other modular or end-to-end baselines, it also prompts us to rethink the role of explicit tracking for embodied perception. Additionally, by linking future and current locations in a many-to-one manner, our approach is able to reason about multiple futures, a capability that was previously considered difficult for end-to-end approaches. We conduct extensive experiments on the popular nuScenes dataset and demonstrate the empirical effectiveness of our approach. In addition, we investigate the appropriateness of reusing standard forecasting metrics for an end-to-end setup, and find a number of limitations which allow us to build simple baselines to game these metrics. We address this issue with a novel set of joint forecasting and detection metrics that extend the commonly used AP metrics from the detection community to measuring forecasting accuracy. Our code is available at https://github.com/neeharperi/FutureDet

preprint2022arXiv

Long-Tailed Recognition via Weight Balancing

In the real open world, data tends to follow long-tailed class distributions, motivating the well-studied long-tailed recognition (LTR) problem. Naive training produces models that are biased toward common classes in terms of higher accuracy. The key to addressing LTR is to balance various aspects including data distribution, training losses, and gradients in learning. We explore an orthogonal direction, weight balancing, motivated by the empirical observation that the naively trained classifier has "artificially" larger weights in norm for common classes (because there exists abundant data to train them, unlike the rare classes). We investigate three techniques to balance weights, L2-normalization, weight decay, and MaxNorm. We first point out that L2-normalization "perfectly" balances per-class weights to be unit norm, but such a hard constraint might prevent classes from learning better classifiers. In contrast, weight decay penalizes larger weights more heavily and so learns small balanced weights; the MaxNorm constraint encourages growing small weights within a norm ball but caps all the weights by the radius. Our extensive study shows that both help learn balanced weights and greatly improve the LTR accuracy. Surprisingly, weight decay, although underexplored in LTR, significantly improves over prior work. Therefore, we adopt a two-stage training paradigm and propose a simple approach to LTR: (1) learning features using the cross-entropy loss by tuning weight decay, and (2) learning classifiers using class-balanced loss by tuning weight decay and MaxNorm. Our approach achieves the state-of-the-art accuracy on five standard benchmarks, serving as a future baseline for long-tailed recognition.

preprint2022arXiv

Mega-NeRF: Scalable Construction of Large-Scale NeRFs for Virtual Fly-Throughs

We use neural radiance fields (NeRFs) to build interactive 3D environments from large-scale visual captures spanning buildings or even multiple city blocks collected primarily from drones. In contrast to single object scenes (on which NeRFs are traditionally evaluated), our scale poses multiple challenges including (1) the need to model thousands of images with varying lighting conditions, each of which capture only a small subset of the scene, (2) prohibitively large model capacities that make it infeasible to train on a single GPU, and (3) significant challenges for fast rendering that would enable interactive fly-throughs. To address these challenges, we begin by analyzing visibility statistics for large-scale scenes, motivating a sparse network structure where parameters are specialized to different regions of the scene. We introduce a simple geometric clustering algorithm for data parallelism that partitions training images (or rather pixels) into different NeRF submodules that can be trained in parallel. We evaluate our approach on existing datasets (Quad 6k and UrbanScene3D) as well as against our own drone footage, improving training speed by 3x and PSNR by 12%. We also evaluate recent NeRF fast renderers on top of Mega-NeRF and introduce a novel method that exploits temporal coherence. Our technique achieves a 40x speedup over conventional NeRF rendering while remaining within 0.8 db in PSNR quality, exceeding the fidelity of existing fast renderers.

preprint2022arXiv

Multimodal Object Detection via Probabilistic Ensembling

Object detection with multimodal inputs can improve many safety-critical systems such as autonomous vehicles (AVs). Motivated by AVs that operate in both day and night, we study multimodal object detection with RGB and thermal cameras, since the latter provides much stronger object signatures under poor illumination. We explore strategies for fusing information from different modalities. Our key contribution is a probabilistic ensembling technique, ProbEn, a simple non-learned method that fuses together detections from multi-modalities. We derive ProbEn from Bayes' rule and first principles that assume conditional independence across modalities. Through probabilistic marginalization, ProbEn elegantly handles missing modalities when detectors do not fire on the same object. Importantly, ProbEn also notably improves multimodal detection even when the conditional independence assumption does not hold, e.g., fusing outputs from other fusion methods (both off-the-shelf and trained in-house). We validate ProbEn on two benchmarks containing both aligned (KAIST) and unaligned (FLIR) multimodal images, showing that ProbEn outperforms prior work by more than 13% in relative performance!

preprint2022arXiv

Opening up Open-World Tracking

Tracking and detecting any object, including ones never-seen-before during model training, is a crucial but elusive capability of autonomous systems. An autonomous agent that is blind to never-seen-before objects poses a safety hazard when operating in the real world - and yet this is how almost all current systems work. One of the main obstacles towards advancing tracking any object is that this task is notoriously difficult to evaluate. A benchmark that would allow us to perform an apples-to-apples comparison of existing efforts is a crucial first step towards advancing this important research field. This paper addresses this evaluation deficit and lays out the landscape and evaluation methodology for detecting and tracking both known and unknown objects in the open-world setting. We propose a new benchmark, TAO-OW: Tracking Any Object in an Open World, analyze existing efforts in multi-object tracking, and construct a baseline for this task while highlighting future challenges. We hope to open a new front in multi-object tracking research that will hopefully bring us a step closer to intelligent systems that can operate safely in the real world. https://openworldtracking.github.io/

preprint2022arXiv

Robust Modeling and Controls for Racing on the Edge

Race cars are routinely driven to the edge of their handling limits in dynamic scenarios well above 200mph. Similar challenges are posed in autonomous racing, where a software stack, instead of a human driver, interacts within a multi-agent environment. For an Autonomous Racing Vehicle (ARV), operating at the edge of handling limits and acting safely in these dynamic environments is still an unsolved problem. In this paper, we present a baseline controls stack for an ARV capable of operating safely up to 140mph. Additionally, limitations in the current approach are discussed to highlight the need for improved dynamics modeling and learning.

preprint2022arXiv

The CLEAR Benchmark: Continual LEArning on Real-World Imagery

Continual learning (CL) is widely regarded as crucial challenge for lifelong AI. However, existing CL benchmarks, e.g. Permuted-MNIST and Split-CIFAR, make use of artificial temporal variation and do not align with or generalize to the real-world. In this paper, we introduce CLEAR, the first continual image classification benchmark dataset with a natural temporal evolution of visual concepts in the real world that spans a decade (2004-2014). We build CLEAR from existing large-scale image collections (YFCC100M) through a novel and scalable low-cost approach to visio-linguistic dataset curation. Our pipeline makes use of pretrained vision-language models (e.g. CLIP) to interactively build labeled datasets, which are further validated with crowd-sourcing to remove errors and even inappropriate images (hidden in original YFCC100M). The major strength of CLEAR over prior CL benchmarks is the smooth temporal evolution of visual concepts with real-world imagery, including both high-quality labeled data along with abundant unlabeled samples per time period for continual semi-supervised learning. We find that a simple unsupervised pre-training step can already boost state-of-the-art CL algorithms that only utilize fully-supervised data. Our analysis also reveals that mainstream CL evaluation protocols that train and test on iid data artificially inflate performance of CL system. To address this, we propose novel "streaming" protocols for CL that always test on the (near) future. Interestingly, streaming protocols (a) can simplify dataset curation since today's testset can be repurposed for tomorrow's trainset and (b) can produce more generalizable models with more accurate estimates of performance since all labeled data from each time-period is used for both training and testing (unlike classic iid train-test splits).

preprint2022arXiv

Video-Specific Autoencoders for Exploring, Editing and Transmitting Videos

We study video-specific autoencoders that allow a human user to explore, edit, and efficiently transmit videos. Prior work has independently looked at these problems (and sub-problems) and proposed different formulations. In this work, we train a simple autoencoder (from scratch) on multiple frames of a specific video. We observe: (1) latent codes learned by a video-specific autoencoder capture spatial and temporal properties of that video; and (2) autoencoders can project out-of-sample inputs onto the video-specific manifold. These two properties allow us to explore, edit, and efficiently transmit a video using one learned representation. For e.g., linear operations on latent codes allow users to visualize the contents of a video. Associating latent codes of a video and manifold projection enables users to make desired edits. Interpolating latent codes and manifold projection allows the transmission of sparse low-res frames over a network.

preprint2021arXiv

Learning to Segment Rigid Motions from Two Frames

Appearance-based detectors achieve remarkable performance on common scenes, but tend to fail for scenarios lack of training data. Geometric motion segmentation algorithms, however, generalize to novel scenes, but have yet to achieve comparable performance to appearance-based ones, due to noisy motion estimations and degenerate motion configurations. To combine the best of both worlds, we propose a modular network, whose architecture is motivated by a geometric analysis of what independent object motions can be recovered from an egomotion field. It takes two consecutive frames as input and predicts segmentation masks for the background and multiple rigidly moving objects, which are then parameterized by 3D rigid transformations. Our method achieves state-of-the-art performance for rigid motion segmentation on KITTI and Sintel. The inferred rigid motions lead to a significant improvement for depth and scene flow estimation. At the time of submission, our method ranked 1st on KITTI scene flow leaderboard, out-performing the best published method (scene flow error: 4.89% vs 6.31%).

preprint2020arXiv

4D Visualization of Dynamic Events from Unconstrained Multi-View Videos

We present a data-driven approach for 4D space-time visualization of dynamic events from videos captured by hand-held multiple cameras. Key to our approach is the use of self-supervised neural networks specific to the scene to compose static and dynamic aspects of an event. Though captured from discrete viewpoints, this model enables us to move around the space-time of the event continuously. This model allows us to create virtual cameras that facilitate: (1) freezing the time and exploring views; (2) freezing a view and moving through time; and (3) simultaneously changing both time and view. We can also edit the videos and reveal occluded objects for a given view if it is visible in any of the other views. We validate our approach on challenging in-the-wild events captured using up to 15 mobile cameras.

preprint2020arXiv

Background Splitting: Finding Rare Classes in a Sea of Background

We focus on the real-world problem of training accurate deep models for image classification of a small number of rare categories. In these scenarios, almost all images belong to the background category in the dataset (>95% of the dataset is background). We demonstrate that both standard fine-tuning approaches and state-of-the-art approaches for training on imbalanced datasets do not produce accurate deep models in the presence of this extreme imbalance. Our key observation is that the extreme imbalance due to the background category can be drastically reduced by leveraging visual knowledge from an existing pre-trained model. Specifically, the background category is "split" into smaller and more coherent pseudo-categories during training using a pre-trained model. We incorporate background splitting into an image classification model by adding an auxiliary loss that learns to mimic the predictions of the existing, pre-trained image classification model. Note that this process is automatic and requires no additional manual labels. The auxiliary loss regularizes the feature representation of the shared network trunk by requiring it to discriminate between previously homogeneous background instances and reduces overfitting to the small number of rare category positives. We also show that BG splitting can be combined with other background imbalance methods to further improve performance. We evaluate our method on a modified version of the iNaturalist dataset where only a small subset of rare category labels are available during training (all other images are labeled as background). By jointly learning to recognize ImageNet categories and selected iNaturalist categories, our approach yields performance that is 42.3 mAP points higher than a fine-tuning baseline when 99.98% of the data is background, and 8.3 mAP points higher than SotA baselines when 98.30% of the data is background.

preprint2020arXiv

Budgeted Training: Rethinking Deep Neural Network Training Under Resource Constraints

In most practical settings and theoretical analyses, one assumes that a model can be trained until convergence. However, the growing complexity of machine learning datasets and models may violate such assumptions. Indeed, current approaches for hyper-parameter tuning and neural architecture search tend to be limited by practical resource constraints. Therefore, we introduce a formal setting for studying training under the non-asymptotic, resource-constrained regime, i.e., budgeted training. We analyze the following problem: "given a dataset, algorithm, and fixed resource budget, what is the best achievable performance?" We focus on the number of optimization iterations as the representative resource. Under such a setting, we show that it is critical to adjust the learning rate schedule according to the given budget. Among budget-aware learning schedules, we find simple linear decay to be both robust and high-performing. We support our claim through extensive experiments with state-of-the-art models on ImageNet (image classification), Kinetics (video classification), MS COCO (object detection and instance segmentation), and Cityscapes (semantic segmentation). We also analyze our results and find that the key to a good schedule is budgeted convergence, a phenomenon whereby the gradient vanishes at the end of each allowed budget. We also revisit existing approaches for fast convergence and show that budget-aware learning schedules readily outperform such approaches under (the practical but under-explored) budgeted training setting.

preprint2020arXiv

CATER: A diagnostic dataset for Compositional Actions and TEmporal Reasoning

Computer vision has undergone a dramatic revolution in performance, driven in large part through deep features trained on large-scale supervised datasets. However, much of these improvements have focused on static image analysis; video understanding has seen rather modest improvements. Even though new datasets and spatiotemporal models have been proposed, simple frame-by-frame classification methods often still remain competitive. We posit that current video datasets are plagued with implicit biases over scene and object structure that can dwarf variations in temporal structure. In this work, we build a video dataset with fully observable and controllable object and scene bias, and which truly requires spatiotemporal understanding in order to be solved. Our dataset, named CATER, is rendered synthetically using a library of standard 3D objects, and tests the ability to recognize compositions of object movements that require long-term reasoning. In addition to being a challenging dataset, CATER also provides a plethora of diagnostic tools to analyze modern spatiotemporal video architectures by being completely observable and controllable. Using CATER, we provide insights into some of the most recent state of the art deep video architectures.

preprint2020arXiv

Learning Generative Models of Tissue Organization with Supervised GANs

A key step in understanding the spatial organization of cells and tissues is the ability to construct generative models that accurately reflect that organization. In this paper, we focus on building generative models of electron microscope (EM) images in which the positions of cell membranes and mitochondria have been densely annotated, and propose a two-stage procedure that produces realistic images using Generative Adversarial Networks (or GANs) in a supervised way. In the first stage, we synthesize a label "image" given a noise "image" as input, which then provides supervision for EM image synthesis in the second stage. The full model naturally generates label-image pairs. We show that accurate synthetic EM images are produced using assessment via (1) shape features and global statistics, (2) segmentation accuracies, and (3) user studies. We also demonstrate further improvements by enforcing a reconstruction loss on intermediate synthetic labels and thus unifying the two stages into one single end-to-end framework.

preprint2020arXiv

Learning to Move with Affordance Maps

The ability to autonomously explore and navigate a physical space is a fundamental requirement for virtually any mobile autonomous agent, from household robotic vacuums to autonomous vehicles. Traditional SLAM-based approaches for exploration and navigation largely focus on leveraging scene geometry, but fail to model dynamic objects (such as other agents) or semantic constraints (such as wet floors or doorways). Learning-based RL agents are an attractive alternative because they can incorporate both semantic and geometric information, but are notoriously sample inefficient, difficult to generalize to novel settings, and are difficult to interpret. In this paper, we combine the best of both worlds with a modular approach that learns a spatial representation of a scene that is trained to be effective when coupled with traditional geometric planners. Specifically, we design an agent that learns to predict a spatial affordance map that elucidates what parts of a scene are navigable through active self-supervised experience gathering. In contrast to most simulation environments that assume a static world, we evaluate our approach in the VizDoom simulator, using large-scale randomly-generated maps containing a variety of dynamic actors and hazards. We show that learned affordance maps can be used to augment traditional approaches for both exploration and navigation, providing significant improvements in performance.

preprint2020arXiv

MetaPix: Few-Shot Video Retargeting

We address the task of unsupervised retargeting of human actions from one video to another. We consider the challenging setting where only a few frames of the target is available. The core of our approach is a conditional generative model that can transcode input skeletal poses (automatically extracted with an off-the-shelf pose estimator) to output target frames. However, it is challenging to build a universal transcoder because humans can appear wildly different due to clothing and background scene geometry. Instead, we learn to adapt - or personalize - a universal generator to the particular human and background in the target. To do so, we make use of meta-learning to discover effective strategies for on-the-fly personalization. One significant benefit of meta-learning is that the personalized transcoder naturally enforces temporal coherence across its generated frames; all frames contain consistent clothing and background geometry of the target. We experiment on in-the-wild internet videos and images and show our approach improves over widely-used baselines for the task.

preprint2020arXiv

Online Model Distillation for Efficient Video Inference

High-quality computer vision models typically address the problem of understanding the general distribution of real-world images. However, most cameras observe only a very small fraction of this distribution. This offers the possibility of achieving more efficient inference by specializing compact, low-cost models to the specific distribution of frames observed by a single camera. In this paper, we employ the technique of model distillation (supervising a low-cost student model using the output of a high-cost teacher) to specialize accurate, low-cost semantic segmentation models to a target video stream. Rather than learn a specialized student model on offline data from the video stream, we train the student in an online fashion on the live video, intermittently running the teacher to provide a target for learning. Online model distillation yields semantic segmentation models that closely approximate their Mask R-CNN teacher with 7 to 17$\times$ lower inference runtime cost (11 to 26$\times$ in FLOPs), even when the target video's distribution is non-stationary. Our method requires no offline pretraining on the target video stream, achieves higher accuracy and lower cost than solutions based on flow or video object segmentation, and can exhibit better temporal stability than the original teacher. We also provide a new video dataset for evaluating the efficiency of inference over long running video streams.

preprint2020arXiv

Perceiving 3D Human-Object Spatial Arrangements from a Single Image in the Wild

We present a method that infers spatial arrangements and shapes of humans and objects in a globally consistent 3D scene, all from a single image in-the-wild captured in an uncontrolled environment. Notably, our method runs on datasets without any scene- or object-level 3D supervision. Our key insight is that considering humans and objects jointly gives rise to "3D common sense" constraints that can be used to resolve ambiguity. In particular, we introduce a scale loss that learns the distribution of object size from data; an occlusion-aware silhouette re-projection loss to optimize object pose; and a human-object interaction loss to capture the spatial layout of objects with which humans interact. We empirically validate that our constraints dramatically reduce the space of likely 3D spatial configurations. We demonstrate our approach on challenging, in-the-wild images of humans interacting with large objects (such as bicycles, motorcycles, and surfboards) and handheld objects (such as laptops, tennis rackets, and skateboards). We quantify the ability of our approach to recover human-object arrangements and outline remaining challenges in this relatively domain. The project webpage can be found at https://jasonyzhang.com/phosa.

preprint2020arXiv

TAO: A Large-Scale Benchmark for Tracking Any Object

For many years, multi-object tracking benchmarks have focused on a handful of categories. Motivated primarily by surveillance and self-driving applications, these datasets provide tracks for people, vehicles, and animals, ignoring the vast majority of objects in the world. By contrast, in the related field of object detection, the introduction of large-scale, diverse datasets (e.g., COCO) have fostered significant progress in developing highly robust solutions. To bridge this gap, we introduce a similarly diverse dataset for Tracking Any Object (TAO). It consists of 2,907 high resolution videos, captured in diverse environments, which are half a minute long on average. Importantly, we adopt a bottom-up approach for discovering a large vocabulary of 833 categories, an order of magnitude more than prior tracking benchmarks. To this end, we ask annotators to label objects that move at any point in the video, and give names to them post factum. Our vocabulary is both significantly larger and qualitatively different from existing tracking datasets. To ensure scalability of annotation, we employ a federated approach that focuses manual effort on labeling tracks for those relevant objects in a video (e.g., those that move). We perform an extensive evaluation of state-of-the-art trackers and make a number of important discoveries regarding large-vocabulary tracking in an open-world. In particular, we show that existing single- and multi-object trackers struggle when applied to this scenario in the wild, and that detection-based, multi-object trackers are in fact competitive with user-initialized ones. We hope that our dataset and analysis will boost further progress in the tracking community.

preprint2020arXiv

Towards Segmenting Anything That Moves

Detecting and segmenting individual objects, regardless of their category, is crucial for many applications such as action detection or robotic interaction. While this problem has been well-studied under the classic formulation of spatio-temporal grouping, state-of-the-art approaches do not make use of learning-based methods. To bridge this gap, we propose a simple learning-based approach for spatio-temporal grouping. Our approach leverages motion cues from optical flow as a bottom-up signal for separating objects from each other. Motion cues are then combined with appearance cues that provide a generic objectness prior for capturing the full extent of objects. We show that our approach outperforms all prior work on the benchmark FBMS dataset. One potential worry with learning-based methods is that they might overfit to the particular type of objects that they have been trained on. To address this concern, we propose two new benchmarks for generic, moving object detection, and show that our model matches top-down methods on common categories, while significantly out-performing both top-down and bottom-up methods on never-before-seen categories.

preprint2020arXiv

Towards Streaming Perception

Embodied perception refers to the ability of an autonomous agent to perceive its environment so that it can (re)act. The responsiveness of the agent is largely governed by latency of its processing pipeline. While past work has studied the algorithmic trade-off between latency and accuracy, there has not been a clear metric to compare different methods along the Pareto optimal latency-accuracy curve. We point out a discrepancy between standard offline evaluation and real-time applications: by the time an algorithm finishes processing a particular frame, the surrounding world has changed. To these ends, we present an approach that coherently integrates latency and accuracy into a single metric for real-time online perception, which we refer to as "streaming accuracy". The key insight behind this metric is to jointly evaluate the output of the entire perception stack at every time instant, forcing the stack to consider the amount of streaming data that should be ignored while computation is occurring. More broadly, building upon this metric, we introduce a meta-benchmark that systematically converts any single-frame task into a streaming perception task. We focus on the illustrative tasks of object detection and instance segmentation in urban video streams, and contribute a novel dataset with high-quality and temporally-dense annotations. Our proposed solutions and their empirical analysis demonstrate a number of surprising conclusions: (1) there exists an optimal "sweet spot" that maximizes streaming accuracy along the Pareto optimal latency-accuracy curve, (2) asynchronous tracking and future forecasting naturally emerge as internal representations that enable streaming perception, and (3) dynamic scheduling can be used to overcome temporal aliasing, yielding the paradoxical result that latency is sometimes minimized by sitting idle and "doing nothing".

preprint2020arXiv

What-If Motion Prediction for Autonomous Driving

Forecasting the long-term future motion of road actors is a core challenge to the deployment of safe autonomous vehicles (AVs). Viable solutions must account for both the static geometric context, such as road lanes, and dynamic social interactions arising from multiple actors. While recent deep architectures have achieved state-of-the-art performance on distance-based forecasting metrics, these approaches produce forecasts that are predicted without regard to the AV's intended motion plan. In contrast, we propose a recurrent graph-based attentional approach with interpretable geometric (actor-lane) and social (actor-actor) relationships that supports the injection of counterfactual geometric goals and social contexts. Our model can produce diverse predictions conditioned on hypothetical or "what-if" road lanes and multi-actor interactions. We show that such an approach could be used in the planning loop to reason about unobserved causes or unlikely futures that are directly relevant to the AV's intended route.

preprint2016arXiv

Bottom-Up and Top-Down Reasoning with Hierarchical Rectified Gaussians

Convolutional neural nets (CNNs) have demonstrated remarkable performance in recent history. Such approaches tend to work in a unidirectional bottom-up feed-forward fashion. However, practical experience and biological evidence tells us that feedback plays a crucial role, particularly for detailed spatial understanding tasks. This work explores bidirectional architectures that also reason with top-down feedback: neural units are influenced by both lower and higher-level units. We do so by treating units as rectified latent variables in a quadratic energy function, which can be seen as a hierarchical Rectified Gaussian model (RGs). We show that RGs can be optimized with a quadratic program (QP), that can in turn be optimized with a recurrent neural network (with rectified linear units). This allows RGs to be trained with GPU-optimized gradient descent. From a theoretical perspective, RGs help establish a connection between CNNs and hierarchical probabilistic models. From a practical perspective, RGs are well suited for detailed spatial tasks that can benefit from top-down reasoning. We illustrate them on the challenging task of keypoint localization under occlusions, where local bottom-up evidence may be misleading. We demonstrate state-of-the-art results on challenging benchmarks.

preprint2016arXiv

PixelNet: Towards a General Pixel-level Architecture

We explore architectures for general pixel-level prediction problems, from low-level edge detection to mid-level surface normal estimation to high-level semantic segmentation. Convolutional predictors, such as the fully-convolutional network (FCN), have achieved remarkable success by exploiting the spatial redundancy of neighboring pixels through convolutional processing. Though computationally efficient, we point out that such approaches are not statistically efficient during learning precisely because spatial redundancy limits the information learned from neighboring pixels. We demonstrate that (1) stratified sampling allows us to add diversity during batch updates and (2) sampled multi-scale features allow us to explore more nonlinear predictors (multiple fully-connected layers followed by ReLU) that improve overall accuracy. Finally, our objective is to show how a architecture can get performance better than (or comparable to) the architectures designed for a particular task. Interestingly, our single architecture produces state-of-the-art results for semantic segmentation on PASCAL-Context, surface normal estimation on NYUDv2 dataset, and edge detection on BSDS without contextual post-processing.

preprint2016arXiv

The Open World of Micro-Videos

Micro-videos are six-second videos popular on social media networks with several unique properties. Firstly, because of the authoring process, they contain significantly more diversity and narrative structure than existing collections of video "snippets". Secondly, because they are often captured by hand-held mobile cameras, they contain specialized viewpoints including third-person, egocentric, and self-facing views seldom seen in traditional produced video. Thirdly, due to to their continuous production and publication on social networks, aggregate micro-video content contains interesting open-world dynamics that reflects the temporal evolution of tag topics. These aspects make micro-videos an appealing well of visual data for developing large-scale models for video understanding. We analyze a novel dataset of micro-videos labeled with 58 thousand tags. To analyze this data, we introduce viewpoint-specific and temporally-evolving models for video understanding, defined over state-of-the-art motion and deep visual features. We conclude that our dataset opens up new research opportunities for large-scale video analysis, novel viewpoints, and open-world dynamics.

preprint2016arXiv

Tinkering Under the Hood: Interactive Zero-Shot Learning with Net Surgery

We consider the task of visual net surgery, in which a CNN can be reconfigured without extra data to recognize novel concepts that may be omitted from the training set. While most prior work make use of linguistic cues for such "zero-shot" learning, we do so by using a pictorial language representation of the training set, implicitly learned by a CNN, to generalize to new classes. To this end, we introduce a set of visualization techniques that better reveal the activation patterns and relations between groups of CNN filters. We next demonstrate that knowledge of pictorial languages can be used to rewire certain CNN neurons into a part model, which we call a pictorial language classifier. We demonstrate the robustness of simple PLCs by applying them in a weakly supervised manner: labeling unlabeled concepts for visual classes present in the training data. Specifically we show that a PLC built on top of a CNN trained for ImageNet classification can localize humans in Graz-02 and determine the pose of birds in PASCAL-VOC without extra labeled data or additional training. We then apply PLCs in an interactive zero-shot manner, demonstrating that pictorial languages are expressive enough to detect a set of visual classes in MS-COCO that never appear in the ImageNet training set.

preprint2015arXiv

Depth-based hand pose estimation: methods, data, and challenges

Hand pose estimation has matured rapidly in recent years. The introduction of commodity depth sensors and a multitude of practical applications have spurred new advances. We provide an extensive analysis of the state-of-the-art, focusing on hand pose estimation from a single depth frame. To do so, we have implemented a considerable number of systems, and will release all software and evaluation code. We summarize important conclusions here: (1) Pose estimation appears roughly solved for scenes with isolated hands. However, methods still struggle to analyze cluttered scenes where hands may be interacting with nearby objects and surfaces. To spur further progress we introduce a challenging new dataset with diverse, cluttered scenes. (2) Many methods evaluate themselves with disparate criteria, making comparisons difficult. We define a consistent evaluation criteria, rigorously motivated by human experiments. (3) We introduce a simple nearest-neighbor baseline that outperforms most existing systems. This implies that most systems do not generalize beyond their training sets. This also reinforces the under-appreciated point that training data is as important as the model itself. We conclude with directions for future progress.

preprint2015arXiv

Do We Need More Training Data?

Datasets for training object recognition systems are steadily increasing in size. This paper investigates the question of whether existing detectors will continue to improve as data grows, or saturate in performance due to limited model complexity and the Bayes risk associated with the feature spaces in which they operate. We focus on the popular paradigm of discriminatively trained templates defined on oriented gradient features. We investigate the performance of mixtures of templates as the number of mixture components and the amount of training data grows. Surprisingly, even with proper treatment of regularization and "outliers", the performance of classic mixture models appears to saturate quickly ($\sim$10 templates and $\sim$100 positive training examples per template). This is not a limitation of the feature space as compositional mixtures that share template parameters via parts and that can synthesize new templates not encountered during training yield significantly better performance. Based on our analysis, we conjecture that the greatest gains in detection performance will continue to derive from improved representations and learning algorithms that can make efficient use of large datasets.

preprint2015arXiv

Microsoft COCO: Common Objects in Context

We present a new dataset with the goal of advancing the state-of-the-art in object recognition by placing the question of object recognition in the context of the broader question of scene understanding. This is achieved by gathering images of complex everyday scenes containing common objects in their natural context. Objects are labeled using per-instance segmentations to aid in precise object localization. Our dataset contains photos of 91 objects types that would be easily recognizable by a 4 year old. With a total of 2.5 million labeled instances in 328k images, the creation of our dataset drew upon extensive crowd worker involvement via novel user interfaces for category detection, instance spotting and instance segmentation. We present a detailed statistical analysis of the dataset in comparison to PASCAL, ImageNet, and SUN. Finally, we provide baseline performance analysis for bounding box and segmentation detection results using a Deformable Parts Model.

preprint2015arXiv

Multi-scale recognition with DAG-CNNs

We explore multi-scale convolutional neural nets (CNNs) for image classification. Contemporary approaches extract features from a single output layer. By extracting features from multiple layers, one can simultaneously reason about high, mid, and low-level features during classification. The resulting multi-scale architecture can itself be seen as a feed-forward model that is structured as a directed acyclic graph (DAG-CNNs). We use DAG-CNNs to learn a set of multiscale features that can be effectively shared between coarse and fine-grained classification tasks. While fine-tuning such models helps performance, we show that even "off-the-self" multiscale features perform quite well. We present extensive analysis and demonstrate state-of-the-art classification performance on three standard scene benchmarks (SUN397, MIT67, and Scene15). In terms of the heavily benchmarked MIT67 and Scene15 datasets, our results reduce the lowest previously-reported error by 23.9% and 9.5%, respectively.

preprint2014arXiv

3D Hand Pose Detection in Egocentric RGB-D Images

We focus on the task of everyday hand pose estimation from egocentric viewpoints. For this task, we show that depth sensors are particularly informative for extracting near-field interactions of the camera wearer with his/her environment. Despite the recent advances in full-body pose estimation using Kinect-like sensors, reliable monocular hand pose estimation in RGB-D images is still an unsolved problem. The problem is considerably exacerbated when analyzing hands performing daily activities from a first-person viewpoint, due to severe occlusions arising from object manipulations and a limited field-of-view. Our system addresses these difficulties by exploiting strong priors over viewpoint and pose in a discriminative tracking-by-detection framework. Our priors are operationalized through a photorealistic synthetic model of egocentric scenes, which is used to generate training data for learning depth-based pose classifiers. We evaluate our approach on an annotated dataset of real egocentric object manipulation scenes and compare to both commercial and academic approaches. Our method provides state-of-the-art performance for both hand detection and pose estimation in egocentric RGB-D images.

preprint2014arXiv

Dual coordinate solvers for large-scale structural SVMs

This manuscript describes a method for training linear SVMs (including binary SVMs, SVM regression, and structural SVMs) from large, out-of-core training datasets. Current strategies for large-scale learning fall into one of two camps; batch algorithms which solve the learning problem given a finite datasets, and online algorithms which can process out-of-core datasets. The former typically requires datasets small enough to fit in memory. The latter is often phrased as a stochastic optimization problem; such algorithms enjoy strong theoretical properties but often require manual tuned annealing schedules, and may converge slowly for problems with large output spaces (e.g., structural SVMs). We discuss an algorithm for an "intermediate" regime in which the data is too large to fit in memory, but the active constraints (support vectors) are small enough to remain in memory. In this case, one can design rather efficient learning algorithms that are as stable as batch algorithms, but capable of processing out-of-core datasets. We have developed such a MATLAB-based solver and used it to train a collection of recognition systems for articulated pose estimation, facial analysis, 3D object recognition, and action classification, all with publicly-available code. This writeup describes the solver in detail.

preprint2014arXiv

Egocentric Pose Recognition in Four Lines of Code

We tackle the problem of estimating the 3D pose of an individual's upper limbs (arms+hands) from a chest mounted depth-camera. Importantly, we consider pose estimation during everyday interactions with objects. Past work shows that strong pose+viewpoint priors and depth-based features are crucial for robust performance. In egocentric views, hands and arms are observable within a well defined volume in front of the camera. We call this volume an egocentric workspace. A notable property is that hand appearance correlates with workspace location. To exploit this correlation, we classify arm+hand configurations in a global egocentric coordinate frame, rather than a local scanning window. This greatly simplify the architecture and improves performance. We propose an efficient pipeline which 1) generates synthetic workspace exemplars for training using a virtual chest-mounted camera whose intrinsic parameters match our physical camera, 2) computes perspective-aware depth features on this entire volume and 3) recognizes discrete arm+hand pose classes through a sparse multi-class SVM. Our method provides state-of-the-art hand pose recognition performance from egocentric RGB-D images in real-time.