Toward Accurate Camera-based 3D Object Detection via Cascade Depth Estimation and Calibration

Recent camera-based 3D object detection is limited by the precision of transforming from image to 3D feature spaces, as well as the accuracy of object localization within the 3D space. This paper aims to address such a fundamental problem of camera-based 3D object detection: How to effectively learn depth information for accurate feature lifting and object localization. Different from previous methods which directly predict depth distributions by using a supervised estimation model, we propose a cascade framework consisting of two depth-aware learning paradigms. First, a depth estimation (DE) scheme leverages relative depth information to realize the effective feature lifting from 2D to 3D spaces. Furthermore, a depth calibration (DC) scheme introduces depth reconstruction to further adjust the 3D object localization perturbation along the depth axis. In practice, the DE is explicitly realized by using both the absolute and relative depth optimization loss to promote the precision of depth prediction, while the capability of DC is implicitly embedded into the detection Transformer through a depth denoising mechanism in the training phase. The entire model training is accomplished through an end-to-end manner. We propose a baseline detector and evaluate the effectiveness of our proposal with +2.2%/+2.7% NDS/mAP improvements on NuScenes benchmark, and gain a comparable performance with 55.9%/45.7% NDS/mAP. Furthermore, we conduct extensive experiments to demonstrate its generality based on various detectors with about +2% NDS improvements.

Robust Inverse Graphics via Probabilistic Inference

How do we infer a 3D scene from a single image in the presence of corruptions like rain, snow or fog? Straightforward domain randomization relies on knowing the family of corruptions ahead of time. Here, we propose a Bayesian approach-dubbed robust inverse graphics (RIG)-that relies on a strong scene prior and an uninformative uniform corruption prior, making it applicable to a wide range of corruptions. Given a single image, RIG performs posterior inference jointly over the scene and the corruption. We demonstrate this idea by training a neural radiance field (NeRF) scene prior and using a secondary NeRF to represent the corruptions over which we place an uninformative prior. RIG, trained only on clean data, outperforms depth estimators and alternative NeRF approaches that perform point estimation instead of full inference. The results hold for a number of scene prior architectures based on normalizing flows and diffusion models. For the latter, we develop reconstruction-guidance with auxiliary latents (ReGAL)-a diffusion conditioning algorithm that is applicable in the presence of auxiliary latent variables such as the corruption. RIG demonstrates how scene priors can be used beyond generation tasks.

PMFSNet: Polarized Multi-scale Feature Self-attention Network For Lightweight Medical Image Segmentation

Current state-of-the-art medical image segmentation methods prioritize accuracy but often at the expense of increased computational demands and larger model sizes. Applying these large-scale models to the relatively limited scale of medical image datasets tends to induce redundant computation, complicating the process without the necessary benefits. This approach not only adds complexity but also presents challenges for the integration and deployment of lightweight models on edge devices. For instance, recent transformer-based models have excelled in 2D and 3D medical image segmentation due to their extensive receptive fields and high parameter count. However, their effectiveness comes with a risk of overfitting when applied to small datasets and often neglects the vital inductive biases of Convolutional Neural Networks (CNNs), essential for local feature representation. In this work, we propose PMFSNet, a novel medical imaging segmentation model that effectively balances global and local feature processing while avoiding the computational redundancy typical in larger models. PMFSNet streamlines the UNet-based hierarchical structure and simplifies the self-attention mechanism's computational complexity, making it suitable for lightweight applications. It incorporates a plug-and-play PMFS block, a multi-scale feature enhancement module based on attention mechanisms, to capture long-term dependencies. Extensive comprehensive results demonstrate that even with a model (less than 1 million parameters), our method achieves superior performance in various segmentation tasks across different data scales. It achieves (IoU) metrics of 84.68%, 82.02%, and 78.82% on public datasets of teeth CT (CBCT), ovarian tumors ultrasound(MMOTU), and skin lesions dermoscopy images (ISIC 2018), respectively. The source code is available at https://github.com/yykzjh/PMFSNet.

Parrot: Pareto-optimal Multi-Reward Reinforcement Learning Framework for Text-to-Image Generation

Recent works demonstrate that using reinforcement learning (RL) with quality rewards can enhance the quality of generated images in text-to-image (T2I) generation. However, a simple aggregation of multiple rewards may cause over-optimization in certain metrics and degradation in others, and it is challenging to manually find the optimal weights. An effective strategy to jointly optimize multiple rewards in RL for T2I generation is highly desirable. This paper introduces Parrot, a novel multi-reward RL framework for T2I generation. Through the use of the batch-wise Pareto optimal selection, Parrot automatically identifies the optimal trade-off among different rewards during the RL optimization of the T2I generation. Additionally, Parrot employs a joint optimization approach for the T2I model and the prompt expansion network, facilitating the generation of quality-aware text prompts, thus further enhancing the final image quality. To counteract the potential catastrophic forgetting of the original user prompt due to prompt expansion, we introduce original prompt centered guidance at inference time, ensuring that the generated image remains faithful to the user input. Extensive experiments and a user study demonstrate that Parrot outperforms several baseline methods across various quality criteria, including aesthetics, human preference, image sentiment, and text-image alignment.

MouSi: Poly-Visual-Expert Vision-Language Models

Current large vision-language models (VLMs) often encounter challenges such as insufficient capabilities of a single visual component and excessively long visual tokens. These issues can limit the model's effectiveness in accurately interpreting complex visual information and over-lengthy contextual information. Addressing these challenges is crucial for enhancing the performance and applicability of VLMs. This paper proposes the use of ensemble experts technique to synergizes the capabilities of individual visual encoders, including those skilled in image-text matching, OCR, image segmentation, etc. This technique introduces a fusion network to unify the processing of outputs from different visual experts, while bridging the gap between image encoders and pre-trained LLMs. In addition, we explore different positional encoding schemes to alleviate the waste of positional encoding caused by lengthy image feature sequences, effectively addressing the issue of position overflow and length limitations. For instance, in our implementation, this technique significantly reduces the positional occupancy in models like SAM, from a substantial 4096 to a more efficient and manageable 64 or even down to 1. Experimental results demonstrate that VLMs with multiple experts exhibit consistently superior performance over isolated visual encoders and mark a significant performance boost as more experts are integrated. We have open-sourced the training code used in this report. All of these resources can be found on our project website.

High-Fidelity Diffusion-based Image Editing

Diffusion models have attained remarkable success in the domains of image generation and editing. It is widely recognized that employing larger inversion and denoising steps in diffusion model leads to improved image reconstruction quality. However, the editing performance of diffusion models tends to be no more satisfactory even with increasing denoising steps. The deficiency in editing could be attributed to the conditional Markovian property of the editing process, where errors accumulate throughout denoising steps. To tackle this challenge, we first propose an innovative framework where a rectifier module is incorporated to modulate diffusion model weights with residual features, thereby providing compensatory information to bridge the fidelity gap. Furthermore, we introduce a novel learning paradigm aimed at minimizing error propagation during the editing process, which trains the editing procedure in a manner similar to denoising score-matching. Extensive experiments demonstrate that our proposed framework and training strategy achieve high-fidelity reconstruction and editing results across various levels of denoising steps, meanwhile exhibits exceptional performance in terms of both quantitative metric and qualitative assessments. Moreover, we explore our model's generalization through several applications like image-to-image translation and out-of-domain image editing.

LATENTPATCH: A Non-Parametric Approach for Face Generation and Editing

This paper presents LatentPatch, a new method for generating realistic images from a small dataset of only a few images. We use a lightweight model with only a few thousand parameters. Unlike traditional few-shot generation methods that finetune pre-trained large-scale generative models, our approach is computed directly on the latent distribution by sequential feature matching, and is explainable by design. Avoiding large models based on transformers, recursive networks, or self-attention, which are not suitable for small datasets, our method is inspired by non-parametric texture synthesis and style transfer models, and ensures that generated image features are sampled from the source distribution. We extend previous single-image models to work with a few images and demonstrate that our method can generate realistic images, as well as enable conditional sampling and image editing. We conduct experiments on face datasets and show that our simplistic model is effective and versatile.

AEROBLADE: Training-Free Detection of Latent Diffusion Images Using Autoencoder Reconstruction Error

With recent text-to-image models, anyone can generate deceptively realistic images with arbitrary contents, fueling the growing threat of visual disinformation. A key enabler for generating high-resolution images with low computational cost has been the development of latent diffusion models (LDMs). In contrast to conventional diffusion models, LDMs perform the denoising process in the low-dimensional latent space of a pre-trained autoencoder (AE) instead of the high-dimensional image space. Despite their relevance, the forensic analysis of LDMs is still in its infancy. In this work we propose AEROBLADE, a novel detection method which exploits an inherent component of LDMs: the AE used to transform images between image and latent space. We find that generated images can be more accurately reconstructed by the AE than real images, allowing for a simple detection approach based on the reconstruction error. Most importantly, our method is easy to implement and does not require any training, yet nearly matches the performance of detectors that rely on extensive training. We empirically demonstrate that AEROBLADE is effective against state-of-the-art LDMs including Stable Diffusion and Midjourney. Beyond detection, our approach allows for the qualitative analysis of images, which can be leveraged for identifying inpainted regions.

Pixel-Wise Color Constancy via Smoothness Techniques in Multi-Illuminant Scenes

Most scenes are illuminated by several light sources, where the traditional assumption of uniform illumination is invalid. This issue is ignored in most color constancy methods, primarily due to the complex spatial impact of multiple light sources on the image. Moreover, most existing multi-illuminant methods fail to preserve the smooth change of illumination, which stems from spatial dependencies in natural images. Motivated by this, we propose a novel multi-illuminant color constancy method, by learning pixel-wise illumination maps caused by multiple light sources. The proposed method enforces smoothness within neighboring pixels, by regularizing the training with the total variation loss. Moreover, a bilateral filter is provisioned further to enhance the natural appearance of the estimated images, while preserving the edges. Additionally, we propose a label-smoothing technique that enables the model to generalize well despite the uncertainties in ground truth. Quantitative and qualitative experiments demonstrate that the proposed method outperforms the state-of-the-art.

Vision-Language Models Provide Promptable Representations for Reinforcement Learning

Humans can quickly learn new behaviors by leveraging background world knowledge. In contrast, agents trained with reinforcement learning (RL) typically learn behaviors from scratch. We thus propose a novel approach that uses the vast amounts of general and indexable world knowledge encoded in vision-language models (VLMs) pre-trained on Internet-scale data for embodied RL. We initialize policies with VLMs by using them as promptable representations: embeddings that are grounded in visual observations and encode semantic features based on the VLM's internal knowledge, as elicited through prompts that provide task context and auxiliary information. We evaluate our approach on visually-complex, long horizon RL tasks in Minecraft and robot navigation in Habitat. We find that our policies trained on embeddings extracted from general-purpose VLMs outperform equivalent policies trained on generic, non-promptable image embeddings. We also find our approach outperforms instruction-following methods and performs comparably to domain-specific embeddings.