Large-scale interactive exploratory visual search

Large scale visual search has been one of the challenging issues in the era of big data. It demands techniques that are not only highly effective and efficient but also allow users conveniently express their information needs and refine their intents. In this thesis, we focus on developing an exploratory framework for large scale visual search. We also develop a number of enabling techniques in this thesis, including compact visual content representation for scalable search, near duplicate video shot detection, and action based event detection. We propose a novel scheme for extremely low bit rate visual search, which sends compressed visual words consisting of vocabulary tree histogram and descriptor orientations rather than descriptors. Compact representation of video data is achieved through identifying keyframes of a video which can also help users comprehend visual content efficiently. We propose a novel Bag-of-Importance model for static video summarization. Near duplicate detection is one of the key issues for large scale visual search, since there exist a large number nearly identical images and videos. We propose an improved near-duplicate video shot detection approach for more effective shot representation. Event detection has been one of the solutions for bridging the semantic gap in visual search. We particular focus on human action centred event detection. We propose an enhanced sparse coding scheme to model human actions. Our proposed approach is able to significantly reduce computational cost while achieving recognition accuracy highly comparable to the state-of-the-art methods. At last, we propose an integrated solution for addressing the prime challenges raised from large-scale interactive visual search. The proposed system is also one of the first attempts for exploratory visual search. It provides users more robust results to satisfy their exploring experiences

Self-Supervised Learning of Object Segmentation from Unlabeled RGB-D Videos

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A key feature of the self-supervised training process is a graph-matching algorithm that operates on the over-segmentation output of the point cloud that is reconstructed from each video. The graph matching, along with point cloud registration, is able to find reoccurring object patterns across videos and combine them into 3D object pseudo labels, even under occlusions or different viewing angles. Projected 2D object masks from 3D pseudo labels are used to train a pixel-wise feature extractor through contrastive learning. During online inference, a clustering method uses the learned features to cluster foreground pixels into object segments. Experiments highlight the method's effectiveness on both real and synthetic video datasets, which include cluttered scenes of tabletop objects. The proposed method outperforms existing unsupervised methods for object segmentation by a large margin

ARMBench: An Object-centric Benchmark Dataset for Robotic Manipulation

This paper introduces Amazon Robotic Manipulation Benchmark (ARMBench), a large-scale, object-centric benchmark dataset for robotic manipulation in the context of a warehouse. Automation of operations in modern warehouses requires a robotic manipulator to deal with a wide variety of objects, unstructured storage, and dynamically changing inventory. Such settings pose challenges in perceiving the identity, physical characteristics, and state of objects during manipulation. Existing datasets for robotic manipulation consider a limited set of objects or utilize 3D models to generate synthetic scenes with limitation in capturing the variety of object properties, clutter, and interactions. We present a large-scale dataset collected in an Amazon warehouse using a robotic manipulator performing object singulation from containers with heterogeneous contents. ARMBench contains images, videos, and metadata that corresponds to 235K+ pick-and-place activities on 190K+ unique objects. The data is captured at different stages of manipulation, i.e., pre-pick, during transfer, and after placement. Benchmark tasks are proposed by virtue of high-quality annotations and baseline performance evaluation are presented on three visual perception challenges, namely 1) object segmentation in clutter, 2) object identification, and 3) defect detection. ARMBench can be accessed at http://armbench.comComment: To appear at the IEEE Conference on Robotics and Automation (ICRA), 202

Enhanced Interfacial Dzyaloshinskii-Moriya Interaction in annealed Pt/Co/MgO structures

The interfacial Dzyaloshinskii-Moriya interaction (iDMI) is attracting great interests for spintronics. An iDMI constant larger than 3 mJ/m^2 is expected to minimize the size of skyrmions and to optimize the DW dynamics. In this study, we experimentally demonstrate an enhanced iDMI in Pt/Co/X/MgO ultra-thin film structures with perpendicular magnetization. The iDMI constants were measured using a field-driven creep regime domain expansion method. The enhancement of iDMI with an atomically thin insertion of Ta and Mg is comprehensively understood with the help of ab-initio calculations. Thermal annealing has been used to crystallize the MgO thin layer for improving tunneling magneto-resistance (TMR), but interestingly it also provides a further increase of the iDMI constant. An increase of the iDMI constant up to 3.3 mJ/m^2 is shown, which could be promising for the scaling down of skyrmion electronics

Hierarchical Multi-scale Attention Networks for action recognition

Recurrent Neural Networks (RNNs) have been widely used in natural language processing and computer vision. Among them, the Hierarchical Multi-scale RNN (HM-RNN), a kind of multi-scale hierarchical RNN proposed recently, can learn the hierarchical temporal structure from data automatically. In this paper, we extend the work to solve the computer vision task of action recognition. However, in sequence-to-sequence models like RNN, it is normally very hard to discover the relationships between inputs and outputs given static inputs. As a solution, attention mechanism could be applied to extract the relevant information from input thus facilitating the modeling of input-output relationships. Based on these considerations, we propose a novel attention network, namely Hierarchical Multi-scale Attention Network (HM-AN), by combining the HM-RNN and the attention mechanism and apply it to action recognition. A newly proposed gradient estimation method for stochastic neurons, namely Gumbel-softmax, is exploited to implement the temporal boundary detectors and the stochastic hard attention mechanism. To amealiate the negative effect of sensitive temperature of the Gumbel-softmax, an adaptive temperature training method is applied to better the system performance. The experimental results demonstrate the improved effect of HM-AN over LSTM with attention on the vision task. Through visualization of what have been learnt by the networks, it can be observed that both the attention regions of images and the hierarchical temporal structure can be captured by HM-AN

Real2Sim2Real Transfer for Control of Cable-driven Robots via a Differentiable Physics Engine

Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight ratios and extreme deformations, enabling them to navigate unstructured terrain and even survive harsh impacts. However, they are hard to control due to their high dimensionality, complex dynamics, and coupled architecture. Physics-based simulation is one avenue for developing locomotion policies that can then be transferred to real robots, but modeling tensegrity robots is a complex task, so simulations experience a substantial sim2real gap. To address this issue, this paper describes a Real2Sim2Real strategy for tensegrity robots. This strategy is based on a differential physics engine that can be trained given limited data from a real robot (i.e. offline measurements and one random trajectory) and achieve a high enough accuracy to discover transferable locomotion policies. Beyond the overall pipeline, key contributions of this work include computing non-zero gradients at contact points, a loss function, and a trajectory segmentation technique that avoid conflicts in gradient evaluation during training. The proposed pipeline is demonstrated and evaluated on a real 3-bar tensegrity robot.Comment: Submitted to ICRA202