Neural Star Domain as Primitive Representation

Reconstructing 3D objects from 2D images is a fundamental task in computer vision. Accurate structured reconstruction by parsimonious and semantic primitive representation further broadens its application. When reconstructing a target shape with multiple primitives, it is preferable that one can instantly access the union of basic properties of the shape such as collective volume and surface, treating the primitives as if they are one single shape. This becomes possible by primitive representation with unified implicit and explicit representations. However, primitive representations in current approaches do not satisfy all of the above requirements at the same time. To solve this problem, we propose a novel primitive representation named neural star domain (NSD) that learns primitive shapes in the star domain. We show that NSD is a universal approximator of the star domain and is not only parsimonious and semantic but also an implicit and explicit shape representation. We demonstrate that our approach outperforms existing methods in image reconstruction tasks, semantic capabilities, and speed and quality of sampling high-resolution meshes.

Decomposing Normal and Abnormal Features of Medical Images for Content-based Image Retrieval

Medical images can be decomposed into normal and abnormal features, which is considered as the compositionality. Based on this idea, we propose an encoder-decoder network to decompose a medical image into two discrete latent codes: a normal anatomy code and an abnormal anatomy code. Using these latent codes, we demonstrate a similarity retrieval by focusing on either normal or abnormal features of medical images.

Information Bottleneck Constrained Latent Bidirectional Embedding for Zero-Shot Learning

Zero-shot learning (ZSL) aims to recognize novel classes by transferring semantic knowledge from seen classes to unseen classes. Though many ZSL methods rely on a direct mapping between the visual and the semantic space, the calibration deviation and hubness problem limit the generalization capability to unseen classes. Recently emerged generative ZSL methods generate unseen image features to transform ZSL into a supervised classification problem. However, most generative models still suffer from the seen-unseen bias problem as only seen data is used for training. To address these issues, we propose a novel bidirectional embedding based generative model with a tight visual-semantic coupling constraint. We learn a unified latent space that calibrates the embedded parametric distributions of both visual and semantic spaces. Since the embedding from high-dimensional visual features comprise much non-semantic information, the alignment of visual and semantic in latent space would inevitably been deviated. Therefore, we introduce information bottleneck (IB) constraint to ZSL for the first time to preserve essential attribute information during the mapping. Specifically, we utilize the uncertainty estimation and the wake-sleep procedure to alleviate the noises and improve model abstraction capability. We evaluate the learned latent features on four benchmark datasets. Extensive experimental results show that our method outperforms the state-of-the-art methods in different ZSL settings on most benchmark datasets. The code will be available at https://github.com/osierboy/IBZSL.

Neural Granular Sound Synthesis

Granular sound synthesis is a popular audio generation technique based on rearranging sequences of small waveform windows. In order to control the synthesis, all grains in a given corpus are analyzed through a set of acoustic descriptors. This provides a representation reflecting some form of local similarities across the grains. However, the quality of this grain space is bound by that of the descriptors. Its traversal is not continuously invertible to signal and does not render any structured temporality. We demonstrate that generative neural networks can implement granular synthesis while alleviating most of its shortcomings. We efficiently replace its audio descriptor basis by a probabilistic latent space learned with a Variational Auto-Encoder. A major advantage of our proposal is that the resulting grain space is invertible, meaning that we can continuously synthesize sound when traversing its dimensions. It also implies that original grains are not stored for synthesis. To learn structured paths inside this latent space, we add a higher-level temporal embedding trained on arranged grain sequences. The model can be applied to many types of libraries, including pitched notes or unpitched drums and environmental noises. We experiment with the common granular synthesis processes and enable new ones.

Learning Agile Locomotion via Adversarial Training

Developing controllers for agile locomotion is a long-standing challenge for legged robots. Reinforcement learning (RL) and Evolution Strategy (ES) hold the promise of automating the design process of such controllers. However, dedicated and careful human effort is required to design training environments to promote agility. In this paper, we present a multi-agent learning system, in which a quadruped robot (protagonist) learns to chase another robot (adversary) while the latter learns to escape. We find that this adversarial training process not only encourages agile behaviors but also effectively alleviates the laborious environment design effort. In contrast to prior works that used only one adversary, we find that training an ensemble of adversaries, each of which specializes in a different escaping strategy, is essential for the protagonist to master agility. Through extensive experiments, we show that the locomotion controller learned with adversarial training significantly outperforms carefully designed baselines.

Point Cloud Based Reinforcement Learning for Sim-to-Real and Partial Observability in Visual Navigation

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of its most important limitations. The use of simulators is one way to address this issue, yet knowledge acquired in simulations does not work directly in the real-world, which is known as the sim-to-real transfer problem. While previous works focus on the nature of the images used as observations (e.g., textures and lighting), which has proven useful for a sim-to-sim transfer, they neglect other concerns regarding said observations, such as precise geometrical meanings, failing at robot-to-robot, and thus in sim-to-real transfers. We propose a method that learns on an observation space constructed by point clouds and environment randomization, generalizing among robots and simulators to achieve sim-to-real, while also addressing partial observability. We demonstrate the benefits of our methodology on the point goal navigation task, in which our method proves to be highly unaffected to unseen scenarios produced by robot-to-robot transfer, outperforms image-based baselines in robot-randomized experiments, and presents high performances in sim-to-sim conditions. Finally, we perform several experiments to validate the sim-to-real transfer to a physical domestic robot platform, confirming the out-of-the-box performance of our system.

Vector-Quantized Timbre Representation

Timbre is a set of perceptual attributes that identifies different types of sound sources. Although its definition is usually elusive, it can be seen from a signal processing viewpoint as all the spectral features that are perceived independently from pitch and loudness. Some works have studied high-level timbre synthesis by analyzing the feature relationships of different instruments, but acoustic properties remain entangled and generation bound to individual sounds. This paper targets a more flexible synthesis of an individual timbre by learning an approximate decomposition of its spectral properties with a set of generative features. We introduce an auto-encoder with a discrete latent space that is disentangled from loudness in order to learn a quantized representation of a given timbre distribution. Timbre transfer can be performed by encoding any variable-length input signals into the quantized latent features that are decoded according to the learned timbre. We detail results for translating audio between orchestral instruments and singing voice, as well as transfers from vocal imitations to instruments as an intuitive modality to drive sound synthesis. Furthermore, we can map the discrete latent space to acoustic descriptors and directly perform descriptor-based synthesis.

SplitFusion: Simultaneous Tracking and Mapping for Non-Rigid Scenes

We present SplitFusion, a novel dense RGB-D SLAM framework that simultaneously performs tracking and dense reconstruction for both rigid and non-rigid components of the scene. SplitFusion first adopts deep learning based semantic instant segmentation technique to split the scene into rigid or non-rigid surfaces. The split surfaces are independently tracked via rigid or non-rigid ICP and reconstructed through incremental depth map fusion. Experimental results show that the proposed approach can provide not only accurate environment maps but also well-reconstructed non-rigid targets, e.g. the moving humans.