Traditional methods for 3D object compression operate only on structural information within the object vertices, polygons, and textures. These methods are effective at compression rates up to 10x for standard object sizes but quickly deteriorate at higher compression rates with texture artifacts, low-polygon counts, and mesh gaps. In contrast, semantic compression ignores structural information and operates directly on the core concepts to push to extreme levels of compression. In addition, it uses natural language as its storage format, which makes it natively human-readable and a natural fit for emerging applications built around large-scale, collaborative projects within augmented and virtual reality. It deprioritizes structural information like location, size, and orientation and predicts the missing information with state-of-the-art deep generative models. In this work, we construct a pipeline for 3D semantic compression from public generative models and explore the quality-compression frontier for 3D object compression. We apply this pipeline to achieve rates as high as 105x for 3D objects taken from the Objaverse dataset and show that semantic compression can outperform traditional methods in the important quality-preserving region around 100x compression.

Semantic communications represent a new paradigm of next-generation networking that shifts bit-wise data delivery to conveying the semantic meanings for bandwidth efficiency. To effectively accommodate various potential downstream tasks at the receiver side, one should adaptively convey the most critical semantic information. This work presents a novel task-adaptive semantic communication framework based on diffusion models that is capable of dynamically adjusting the semantic message delivery according to various downstream tasks. Specifically, we initialize the transmission of a deep-compressed general semantic representation from the transmitter to enable diffusion-based coarse data reconstruction at the receiver. The receiver identifies the task-specific demands and generates textual prompts as feedback. Integrated with the attention mechanism, the transmitter updates the semantic transmission with more details to better align with the objectives of the intended receivers. Our test results demonstrate the efficacy of the proposed method in adaptively preserving critical task-relevant information for semantic communications while preserving high compression efficiency.

Real images encode a lot of information about the world, such as how an object can look like, how certain things can be meaningfully arranged, or which items belong together. The image of an average office desk can give us information about how the different parts are usually arranged in relation to each other, e.g. a monitor on the desk with mouse and keyboard in front of it and a chair in front of the desk, or the image of someone preparing a meal can give us information about which ingredients and kitchen tools are to be used. This might seem rather trivial from a human perspective as we are very easily capable of handling such tasks without having to rely on pre-made example images to follow, but for a robot that has to navigate and solve tasks in e.g. a household environment such information can be critical for successfully handling everyday-activities and interacting with the world. We could encode all relevant information explicitly into an extensive knowledge base [1] for the robot, but considering the number of tasks and circumstances that a robot could encounter, correctly handling all situations could become very challenging [2] or even overwhelming when the robot needs to act in widely different environments. Additional knowledge sources, such as simulations of the environment, when available, can help by providing ways to investigate consequences of actions without having to act in the world [3]. We could also try to train the robot on a variety of different tasks, e.g. using reinforcement learning or other methods [4], hoping that the robot is able to generalize and handle situations and circumstances that were never seen during training. However, images of the real world already show examples of how a dining table looks like with plates and cutlery, how images are hung on the wall in bedrooms, dining rooms, or other places. Figure 1 shows an example of two different versions of how sandwich ingredients could be stacked together.

Estimating the 6D pose of textureless objects from RBG images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle a wide range of objects, motivating research towards multi-view pose estimation and next-best-view prediction that addresses these limitations. In this work, we propose a comprehensive active perception framework for estimating the 6D poses of textureless objects using only RGB images. Our approach is built upon a key idea: decoupling the 6D pose estimation into a sequential two-step process can greatly improve both accuracy and efficiency. First, we estimate the 3D translation of each object, resolving scale and depth ambiguities inherent to RGB images. These estimates are then used to simplify the subsequent task of determining the 3D orientation, which we achieve through canonical scale template matching. Building on this formulation, we then introduce an active perception strategy that predicts the next best camera viewpoint to capture an RGB image, effectively reducing object pose uncertainty and enhancing pose accuracy. We evaluate our method on the public ROBI dataset as well as on a transparent object dataset that we created. When evaluated using the same camera viewpoints, our multi-view pose estimation significantly outperforms state-of-the-art approaches. Furthermore, by leveraging our next-best-view strategy, our method achieves high object pose accuracy with substantially fewer viewpoints than heuristic-based policies.

Edge labels are typically at various granularity levels owing to the varying preferences of annotators, thus handling the subjectivity of per-pixel labels has been a focal point for edge detection. Previous methods often employ a simple voting strategy to diminish such label uncertainty or impose a strong assumption of labels with a pre-defined distribution, e.g., Gaussian. In this work, we unveil that the segment anything model (SAM) provides strong prior knowledge to model the uncertainty in edge labels. Our key insight is that the intermediate SAM features inherently correspond to object edges at various granularities, which reflects different edge options due to uncertainty. Therefore, we attempt to align uncertainty with granularity by regressing intermediate SAM features from different layers to object edges at multi-granularity levels. In doing so, the model can fully and explicitly explore diverse ``uncertainties'' in a data-driven fashion. Specifically, we inject a lightweight module (~ 1.5% additional parameters) into the frozen SAM to progressively fuse and adapt its intermediate features to estimate edges from coarse to fine. It is crucial to normalize the granularity level of human edge labels to match their innate uncertainty. For this, we simply perform linear blending to the real edge labels at hand to create pseudo labels with varying granularities. Consequently, our uncertainty-aligned edge detector can flexibly produce edges at any desired granularity (including an optimal one). Thanks to SAM, our model uniquely demonstrates strong generalizability for cross-dataset edge detection. Extensive experimental results on BSDS500, Muticue and NYUDv2 validate our model's superiority.

Open-set single-source domain generalization aims to use a single-source domain to learn a robust model that can be generalized to unknown target domains with both domain shifts and label shifts. The scarcity of the source domain and the unknown data distribution of the target domain pose a great challenge for domain-invariant feature learning and unknown class recognition. In this paper, we propose a novel learning approach based on domain expansion and boundary growth to expand the scarce source samples and enlarge the boundaries across the known classes that indirectly broaden the boundary between the known and unknown classes. Specifically, we achieve domain expansion by employing both background suppression and style augmentation on the source data to synthesize new samples. Then we force the model to distill consistent knowledge from the synthesized samples so that the model can learn domain-invariant information. Furthermore, we realize boundary growth across classes by using edge maps as an additional modality of samples when training multi-binary classifiers. In this way, it enlarges the boundary between the inliers and outliers, and consequently improves the unknown class recognition during open-set generalization. Extensive experiments show that our approach can achieve significant improvements and reach state-of-the-art performance on several cross-domain image classification datasets.

Segmentation is often the first step in many medical image analyses workflows. Deep learning approaches, while giving state-of-the-art accuracies, are data intensive and do not scale well to low data regimes. We introduce Deep Conditional Shape Models 2.0, which uses an edge detector, along with an implicit shape function conditioned on edge maps, to leverage cross-modality shape information. The shape function is trained exclusively on a source domain (contrasted CT) and applied to the target domain of interest (3D echocardiography). We demonstrate data efficiency in the target domain by varying the amounts of training data used in the edge detection stage. We observe that DCSM 2.0 outperforms the baseline at all data levels in terms of Hausdorff distances, and while using 50% or less of the training data in terms of average mesh distance, and at 10% or less of the data with the dice coefficient. The method scales well to low data regimes, with gains of up to 5% in dice coefficient, 2.58 mm in average surface distance and 21.02 mm in Hausdorff distance when using just 2% (22 volumes) of the training data.

We analyse the effectiveness of RMSE, PSNR, SSIM and FOM for evaluating edge detection algorithms used for automated coastline detection. Typically, the accuracy of detected coastlines is assessed visually. This can be impractical on a large scale leading to the need for objective evaluation metrics. Hence, we conduct an experiment to find reliable metrics. We apply Canny edge detection to 95 coastline satellite images across 49 testing locations. We vary the Hysteresis thresholds and compare metric values to a visual analysis of detected edges. We found that FOM was the most reliable metric for selecting the best threshold. It could select a better threshold 92.6% of the time and the best threshold 66.3% of the time. This is compared RMSE, PSNR and SSIM which could select the best threshold 6.3%, 6.3% and 11.6% of the time respectively. We provide a reason for these results by reformulating RMSE, PSNR and SSIM in terms of confusion matrix measures. This suggests these metrics not only fail for this experiment but are not useful for evaluating edge detection in general.

Diffusion models have demonstrated remarkable performance in text-to-image synthesis, producing realistic and high resolution images that faithfully adhere to the corresponding text-prompts. Despite their great success, they still fall behind in sketch-to-image synthesis tasks, where in addition to text-prompts, the spatial layout of the generated images has to closely follow the outlines of certain reference sketches. Employing an MLP latent edge predictor to guide the spatial layout of the synthesized image by predicting edge maps at each denoising step has been recently proposed. Despite yielding promising results, the pixel-wise operation of the MLP does not take into account the spatial layout as a whole, and demands numerous denoising iterations to produce satisfactory images, leading to time inefficiency. To this end, we introduce U-Sketch, a framework featuring a U-Net type latent edge predictor, which is capable of efficiently capturing both local and global features, as well as spatial correlations between pixels. Moreover, we propose the addition of a sketch simplification network that offers the user the choice of preprocessing and simplifying input sketches for enhanced outputs. The experimental results, corroborated by user feedback, demonstrate that our proposed U-Net latent edge predictor leads to more realistic results, that are better aligned with the spatial outlines of the reference sketches, while drastically reducing the number of required denoising steps and, consequently, the overall execution time.

Despite the recent advances in personalized text-to-image (P-T2I) generative models, subject-driven T2I remains challenging. The primary bottlenecks include 1) Intensive training resource requirements, 2) Hyper-parameter sensitivity leading to inconsistent outputs, and 3) Balancing the intricacies of novel visual concept and composition alignment. We start by re-iterating the core philosophy of T2I diffusion models to address the above limitations. Predominantly, contemporary subject-driven T2I approaches hinge on Latent Diffusion Models (LDMs), which facilitate T2I mapping through cross-attention layers. While LDMs offer distinct advantages, P-T2I methods' reliance on the latent space of these diffusion models significantly escalates resource demands, leading to inconsistent results and necessitating numerous iterations for a single desired image. Recently, ECLIPSE has demonstrated a more resource-efficient pathway for training UnCLIP-based T2I models, circumventing the need for diffusion text-to-image priors. Building on this, we introduce $\lambda$-ECLIPSE. Our method illustrates that effective P-T2I does not necessarily depend on the latent space of diffusion models. $\lambda$-ECLIPSE achieves single, multi-subject, and edge-guided T2I personalization with just 34M parameters and is trained on a mere 74 GPU hours using 1.6M image-text interleaved data. Through extensive experiments, we also establish that $\lambda$-ECLIPSE surpasses existing baselines in composition alignment while preserving concept alignment performance, even with significantly lower resource utilization.