Learning State-Aware Visual Representations from Audible Interactions

We propose a self-supervised algorithm to learn representations from egocentric video data. Recently, significant efforts have been made to capture humans interacting with their own environments as they go about their daily activities. In result, several large egocentric datasets of interaction-rich multi-modal data have emerged. However, learning representations from videos can be challenging. First, given the uncurated nature of long-form continuous videos, learning effective representations require focusing on moments in time when interactions take place. Second, visual representations of daily activities should be sensitive to changes in the state of the environment. However, current successful multi-modal learning frameworks encourage representation invariance over time. To address these challenges, we leverage audio signals to identify moments of likely interactions which are conducive to better learning. We also propose a novel self-supervised objective that learns from audible state changes caused by interactions. We validate these contributions extensively on two large-scale egocentric datasets, EPIC-Kitchens-100 and the recently released Ego4D, and show improvements on several downstream tasks, including action recognition, long-term action anticipation, and object state change classification.

Self-Supervised Point Cloud Completion via Inpainting

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 self-supervised point cloud completion algorithm, PointPnCNet, which is trained only on partial scans without assuming access to complete, ground-truth annotations. Our method achieves this via inpainting. We remove a portion of the input data and train the network to complete the missing region. As it is difficult to determine which regions were occluded in the initial cloud and which were synthetically removed, our network learns to complete the full cloud, including the missing regions in the initial partial cloud. We show that our method outperforms previous unsupervised and weakly-supervised methods on both the synthetic dataset, ShapeNet, and real-world LiDAR dataset, Semantic KITTI.

Interpreting Context of Images using Scene Graphs

Understanding a visual scene incorporates objects, relationships, and context. Traditional methods working on an image mostly focus on object detection and fail to capture the relationship between the objects. Relationships can give rich semantic information about the objects in a scene. The context can be conducive to comprehending an image since it will help us to perceive the relation between the objects and thus, give us a deeper insight into the image. Through this idea, our project delivers a model that focuses on finding the context present in an image by representing the image as a graph, where the nodes will the objects and edges will be the relation between them. The context is found using the visual and semantic cues which are further concatenated and given to the Support Vector Machines (SVM) to detect the relation between two objects. This presents us with the context of the image which can be further used in applications such as similar image retrieval, image captioning, or story generation.

Just Go with the Flow: Self-Supervised Scene Flow Estimation

When interacting with highly dynamic environments, scene flow allows autonomous systems to reason about the non-rigid motion of multiple independent objects. This is of particular interest in the field of autonomous driving, in which many cars, people, bicycles, and other objects need to be accurately tracked. Current state of the art methods require annotated scene flow data from autonomous driving scenes to train scene flow networks with supervised learning. As an alternative, we present a method of training scene flow that uses two self-supervised losses, based on nearest neighbors and cycle consistency. These self-supervised losses allow us to train our method on large unlabeled autonomous driving datasets; the resulting method matches current state-of-the-art supervised performance using no real world annotations and exceeds state-of-the-art performance when combining our self-supervised approach with supervised learning on a smaller labeled dataset.

STWalk: Learning Trajectory Representations in Temporal Graphs

Analyzing the temporal behavior of nodes in time-varying graphs is useful for many applications such as targeted advertising, community evolution and outlier detection. In this paper, we present a novel approach, STWalk, for learning trajectory representations of nodes in temporal graphs. The proposed framework makes use of structural properties of graphs at current and previous time-steps to learn effective node trajectory representations. STWalk performs random walks on a graph at a given time step (called space-walk) as well as on graphs from past time-steps (called time-walk) to capture the spatio-temporal behavior of nodes. We propose two variants of STWalk to learn trajectory representations. In one algorithm, we perform space-walk and time-walk as part of a single step. In the other variant, we perform space-walk and time-walk separately and combine the learned representations to get the final trajectory embedding. Extensive experiments on three real-world temporal graph datasets validate the effectiveness of the learned representations when compared to three baseline methods. We also show the goodness of the learned trajectory embeddings for change point detection, as well as demonstrate that arithmetic operations on these trajectory representations yield interesting and interpretable results.