A Graph Theoretic Approach for Object Shape Representation in Compositional Hierarchies Using a Hybrid Generative-Descriptive Model

A graph theoretic approach is proposed for object shape representation in a hierarchical compositional architecture called Compositional Hierarchy of Parts (CHOP). In the proposed approach, vocabulary learning is performed using a hybrid generative-descriptive model. First, statistical relationships between parts are learned using a Minimum Conditional Entropy Clustering algorithm. Then, selection of descriptive parts is defined as a frequent subgraph discovery problem, and solved using a Minimum Description Length (MDL) principle. Finally, part compositions are constructed by compressing the internal data representation with discovered substructures. Shape representation and computational complexity properties of the proposed approach and algorithms are examined using six benchmark two-dimensional shape image datasets. Experiments show that CHOP can employ part shareability and indexing mechanisms for fast inference of part compositions using learned shape vocabularies. Additionally, CHOP provides better shape retrieval performance than the state-of-the-art shape retrieval methods.Comment: Paper : 17 pages. 13th European Conference on Computer Vision (ECCV 2014), Zurich, Switzerland, September 6-12, 2014, Proceedings, Part III, pp 566-581. Supplementary material can be downloaded from http://link.springer.com/content/esm/chp:10.1007/978-3-319-10578-9_37/file/MediaObjects/978-3-319-10578-9_37_MOESM1_ESM.pd

Semantic Part Segmentation using Compositional Model combining Shape and Appearance

In this paper, we study the problem of semantic part segmentation for animals. This is more challenging than standard object detection, object segmentation and pose estimation tasks because semantic parts of animals often have similar appearance and highly varying shapes. To tackle these challenges, we build a mixture of compositional models to represent the object boundary and the boundaries of semantic parts. And we incorporate edge, appearance, and semantic part cues into the compositional model. Given part-level segmentation annotation, we develop a novel algorithm to learn a mixture of compositional models under various poses and viewpoints for certain animal classes. Furthermore, a linear complexity algorithm is offered for efficient inference of the compositional model using dynamic programming. We evaluate our method for horse and cow using a newly annotated dataset on Pascal VOC 2010 which has pixelwise part labels. Experimental results demonstrate the effectiveness of our method

Hierarchical Object Parsing from Structured Noisy Point Clouds

Object parsing and segmentation from point clouds are challenging tasks because the relevant data is available only as thin structures along object boundaries or other features, and is corrupted by large amounts of noise. To handle this kind of data, flexible shape models are desired that can accurately follow the object boundaries. Popular models such as Active Shape and Active Appearance models lack the necessary flexibility for this task, while recent approaches such as the Recursive Compositional Models make model simplifications in order to obtain computational guarantees. This paper investigates a hierarchical Bayesian model of shape and appearance in a generative setting. The input data is explained by an object parsing layer, which is a deformation of a hidden PCA shape model with Gaussian prior. The paper also introduces a novel efficient inference algorithm that uses informed data-driven proposals to initialize local searches for the hidden variables. Applied to the problem of object parsing from structured point clouds such as edge detection images, the proposed approach obtains state of the art parsing errors on two standard datasets without using any intensity information.Comment: 13 pages, 16 figure

CompILE: Compositional Imitation Learning and Execution

We introduce Compositional Imitation Learning and Execution (CompILE): a framework for learning reusable, variable-length segments of hierarchically-structured behavior from demonstration data. CompILE uses a novel unsupervised, fully-differentiable sequence segmentation module to learn latent encodings of sequential data that can be re-composed and executed to perform new tasks. Once trained, our model generalizes to sequences of longer length and from environment instances not seen during training. We evaluate CompILE in a challenging 2D multi-task environment and a continuous control task, and show that it can find correct task boundaries and event encodings in an unsupervised manner. Latent codes and associated behavior policies discovered by CompILE can be used by a hierarchical agent, where the high-level policy selects actions in the latent code space, and the low-level, task-specific policies are simply the learned decoders. We found that our CompILE-based agent could learn given only sparse rewards, where agents without task-specific policies struggle.Comment: ICML (2019