Daily Papers

Our research aims to develop machines that learn to perceive visual motion as do humans. While recent advances in computer vision (CV) have enabled DNN-based models to accurately estimate optical flow in naturalistic images, a significant disparity remains between CV models and the biological visual system in both architecture and behavior. This disparity includes humans' ability to perceive the motion of higher-order image features (second-order motion), which many CV models fail to capture because of their reliance on the intensity conservation law. Our model architecture mimics the cortical V1-MT motion processing pathway, utilizing a trainable motion energy sensor bank and a recurrent graph network. Supervised learning employing diverse naturalistic videos allows the model to replicate psychophysical and physiological findings about first-order (luminance-based) motion perception. For second-order motion, inspired by neuroscientific findings, the model includes an additional sensing pathway with nonlinear preprocessing before motion energy sensing, implemented using a simple multilayer 3D CNN block. When exploring how the brain acquired the ability to perceive second-order motion in natural environments, in which pure second-order signals are rare, we hypothesized that second-order mechanisms were critical when estimating robust object motion amidst optical fluctuations, such as highlights on glossy surfaces. We trained our dual-pathway model on novel motion datasets with varying material properties of moving objects. We found that training to estimate object motion from non-Lambertian materials naturally endowed the model with the capacity to perceive second-order motion, as can humans. The resulting model effectively aligns with biological systems while generalizing to both first- and second-order motion phenomena in natural scenes.

Conventional supervised learning methods typically assume i.i.d samples and are found to be sensitive to out-of-distribution (OOD) data. We propose Generative Causal Representation Learning (GCRL) which leverages causality to facilitate knowledge transfer under distribution shifts. While we evaluate the effectiveness of our proposed method in human trajectory prediction models, GCRL can be applied to other domains as well. First, we propose a novel causal model that explains the generative factors in motion forecasting datasets using features that are common across all environments and with features that are specific to each environment. Selection variables are used to determine which parts of the model can be directly transferred to a new environment without fine-tuning. Second, we propose an end-to-end variational learning paradigm to learn the causal mechanisms that generate observations from features. GCRL is supported by strong theoretical results that imply identifiability of the causal model under certain assumptions. Experimental results on synthetic and real-world motion forecasting datasets show the robustness and effectiveness of our proposed method for knowledge transfer under zero-shot and low-shot settings by substantially outperforming the prior motion forecasting models on out-of-distribution prediction. Our code is available at https://github.com/sshirahmad/GCRL.

In this paper, we tackle the problem of how to build and benchmark a large motion model (LMM). The ultimate goal of LMM is to serve as a foundation model for versatile motion-related tasks, e.g., human motion generation, with interpretability and generalizability. Though advanced, recent LMM-related works are still limited by small-scale motion data and costly text descriptions. Besides, previous motion benchmarks primarily focus on pure body movements, neglecting the ubiquitous motions in context, i.e., humans interacting with humans, objects, and scenes. To address these limitations, we consolidate large-scale video action datasets as knowledge banks to build MotionBank, which comprises 13 video action datasets, 1.24M motion sequences, and 132.9M frames of natural and diverse human motions. Different from laboratory-captured motions, in-the-wild human-centric videos contain abundant motions in context. To facilitate better motion text alignment, we also meticulously devise a motion caption generation algorithm to automatically produce rule-based, unbiased, and disentangled text descriptions via the kinematic characteristics for each motion. Extensive experiments show that our MotionBank is beneficial for general motion-related tasks of human motion generation, motion in-context generation, and motion understanding. Video motions together with the rule-based text annotations could serve as an efficient alternative for larger LMMs. Our dataset, codes, and benchmark will be publicly available at https://github.com/liangxuy/MotionBank.

The field of trajectory forecasting has grown significantly in recent years, partially owing to the release of numerous large-scale, real-world human trajectory datasets for autonomous vehicles (AVs) and pedestrian motion tracking. While such datasets have been a boon for the community, they each use custom and unique data formats and APIs, making it cumbersome for researchers to train and evaluate methods across multiple datasets. To remedy this, we present trajdata: a unified interface to multiple human trajectory datasets. At its core, trajdata provides a simple, uniform, and efficient representation and API for trajectory and map data. As a demonstration of its capabilities, in this work we conduct a comprehensive empirical evaluation of existing trajectory datasets, providing users with a rich understanding of the data underpinning much of current pedestrian and AV motion forecasting research, and proposing suggestions for future datasets from these insights. trajdata is permissively licensed (Apache 2.0) and can be accessed online at https://github.com/NVlabs/trajdata

This paper introduces a video dataset of spatio-temporally localized Atomic Visual Actions (AVA). The AVA dataset densely annotates 80 atomic visual actions in 430 15-minute video clips, where actions are localized in space and time, resulting in 1.58M action labels with multiple labels per person occurring frequently. The key characteristics of our dataset are: (1) the definition of atomic visual actions, rather than composite actions; (2) precise spatio-temporal annotations with possibly multiple annotations for each person; (3) exhaustive annotation of these atomic actions over 15-minute video clips; (4) people temporally linked across consecutive segments; and (5) using movies to gather a varied set of action representations. This departs from existing datasets for spatio-temporal action recognition, which typically provide sparse annotations for composite actions in short video clips. We will release the dataset publicly. AVA, with its realistic scene and action complexity, exposes the intrinsic difficulty of action recognition. To benchmark this, we present a novel approach for action localization that builds upon the current state-of-the-art methods, and demonstrates better performance on JHMDB and UCF101-24 categories. While setting a new state of the art on existing datasets, the overall results on AVA are low at 15.6% mAP, underscoring the need for developing new approaches for video understanding.

3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that covers scene-centric, object-centric, as well as interaction-centric capabilities. While there exist numerous datasets approaching the former two problems, the task of understanding interactable and articulated objects is underrepresented and only partly covered by current works. In this work, we address this shortcoming and introduce (1) an expertly curated dataset in the Universal Scene Description (USD) format, featuring high-quality manual annotations, for instance, segmentation and articulation on 280 indoor scenes; (2) a learning-based model together with a novel baseline capable of predicting part segmentation along with a full specification of motion attributes, including motion type, articulated and interactable parts, and motion parameters; (3) a benchmark serving to compare upcoming methods for the task at hand. Overall, our dataset provides 8 types of annotations - object and part segmentations, motion types, movable and interactable parts, motion parameters, connectivity, and object mass annotations. With its broad and high-quality annotations, the data provides the basis for holistic 3D scene understanding models. All data is provided in the USD format, allowing interoperability and easy integration with downstream tasks. We provide open access to our dataset, benchmark, and method's source code.

Motion synthesis for diverse object categories holds great potential for 3D content creation but remains underexplored due to two key challenges: (1) the lack of comprehensive motion datasets that include a wide range of high-quality motions and annotations, and (2) the absence of methods capable of handling heterogeneous skeletal templates from diverse objects. To address these challenges, we contribute the following: First, we augment the Truebones Zoo dataset, a high-quality animal motion dataset covering over 70 species, by annotating it with detailed text descriptions, making it suitable for text-based motion synthesis. Second, we introduce rig augmentation techniques that generate diverse motion data while preserving consistent dynamics, enabling models to adapt to various skeletal configurations. Finally, we redesign existing motion diffusion models to dynamically adapt to arbitrary skeletal templates, enabling motion synthesis for a diverse range of objects with varying structures. Experiments show that our method learns to generate high-fidelity motions from textual descriptions for diverse and even unseen objects, setting a strong foundation for motion synthesis across diverse object categories and skeletal templates. Qualitative results are available on this link: t2m4lvo.github.io

We introduce Nymeria - a large-scale, diverse, richly annotated human motion dataset collected in the wild with multiple multimodal egocentric devices. The dataset comes with a) full-body ground-truth motion; b) multiple multimodal egocentric data from Project Aria devices with videos, eye tracking, IMUs and etc; and c) a third-person perspective by an additional observer. All devices are precisely synchronized and localized in on metric 3D world. We derive hierarchical protocol to add in-context language descriptions of human motion, from fine-grain motion narration, to simplified atomic action and high-level activity summarization. To the best of our knowledge, Nymeria dataset is the world's largest collection of human motion in the wild; first of its kind to provide synchronized and localized multi-device multimodal egocentric data; and the world's largest motion-language dataset. It provides 300 hours of daily activities from 264 participants across 50 locations, total travelling distance over 399Km. The language descriptions contain 301.5K sentences in 8.64M words from a vocabulary size of 6545. To demonstrate the potential of the dataset, we evaluate several SOTA algorithms for egocentric body tracking, motion synthesis, and action recognition. Data and code are open-sourced for research (c.f. https://www.projectaria.com/datasets/nymeria).

The focus of this paper is on 3D motion editing. Given a 3D human motion and a textual description of the desired modification, our goal is to generate an edited motion as described by the text. The key challenges include the scarcity of training data and the need to design a model that accurately edits the source motion. In this paper, we address both challenges. We propose a methodology to semi-automatically collect a dataset of triplets comprising (i) a source motion, (ii) a target motion, and (iii) an edit text, introducing the new MotionFix dataset. Access to this data allows us to train a conditional diffusion model, TMED, that takes both the source motion and the edit text as input. We develop several baselines to evaluate our model, comparing it against models trained solely on text-motion pair datasets, and demonstrate the superior performance of our model trained on triplets. We also introduce new retrieval-based metrics for motion editing, establishing a benchmark on the evaluation set of MotionFix. Our results are promising, paving the way for further research in fine-grained motion generation. Code, models, and data are available at https://motionfix.is.tue.mpg.de/ .

Controlling human motion based on text presents an important challenge in computer vision. Traditional approaches often rely on holistic action descriptions for motion synthesis, which struggle to capture subtle movements of local body parts. This limitation restricts the ability to isolate and manipulate specific movements. To address this, we propose a novel motion representation that decomposes motion into distinct body joint group movements and interactions from a kinematic perspective. We design an automatic dataset collection pipeline that enhances the existing text-motion benchmark by incorporating fine-grained local joint-group motion and interaction descriptions. To bridge the gap between text and motion domains, we introduce a hierarchical motion semantics approach that progressively fuses joint-level interaction information into the global action-level semantics for modality alignment. With this hierarchy, we introduce a coarse-to-fine motion synthesis procedure for various generation and editing downstream applications. Our quantitative and qualitative experiments demonstrate that the proposed formulation enhances text-motion retrieval by improving joint-spatial understanding, and enables more precise joint-motion generation and control. Project Page: {\smallhttps://andypinxinliu.github.io/KinMo/}

This paper introduces a dataset for improving real-time object recognition systems to aid blind and low-vision (BLV) individuals in navigation tasks. The dataset comprises 21 videos of BLV individuals navigating outdoor spaces, and a taxonomy of 90 objects crucial for BLV navigation, refined through a focus group study. We also provide object labeling for the 90 objects across 31 video segments created from the 21 videos. A deeper analysis reveals that most contemporary datasets used in training computer vision models contain only a small subset of the taxonomy in our dataset. Preliminary evaluation of state-of-the-art computer vision models on our dataset highlights shortcomings in accurately detecting key objects relevant to BLV navigation, emphasizing the need for specialized datasets. We make our dataset publicly available, offering valuable resources for developing more inclusive navigation systems for BLV individuals.

Low-light videos often exhibit spatiotemporal incoherent noise, leading to poor visibility and compromised performance across various computer vision applications. One significant challenge in enhancing such content using modern technologies is the scarcity of training data. This paper introduces a novel low-light video dataset, consisting of 40 scenes captured in various motion scenarios under two distinct low-lighting conditions, incorporating genuine noise and temporal artifacts. We provide fully registered ground truth data captured in normal light using a programmable motorized dolly, and subsequently, refine them via image-based post-processing to ensure the pixel-wise alignment of frames in different light levels. This paper also presents an exhaustive analysis of the low-light dataset, and demonstrates the extensive and representative nature of our dataset in the context of supervised learning. Our experimental results demonstrate the significance of fully registered video pairs in the development of low-light video enhancement methods and the need for comprehensive evaluation. Our dataset is available at DOI:10.21227/mzny-8c77.

In this paper, we show that useful video representations can be learned from synthetic videos and natural images, without incorporating natural videos in the training. We propose a progression of video datasets synthesized by simple generative processes, that model a growing set of natural video properties (e.g. motion, acceleration, and shape transformations). The downstream performance of video models pre-trained on these generated datasets gradually increases with the dataset progression. A VideoMAE model pre-trained on our synthetic videos closes 97.2% of the performance gap on UCF101 action classification between training from scratch and self-supervised pre-training from natural videos, and outperforms the pre-trained model on HMDB51. Introducing crops of static images to the pre-training stage results in similar performance to UCF101 pre-training and outperforms the UCF101 pre-trained model on 11 out of 14 out-of-distribution datasets of UCF101-P. Analyzing the low-level properties of the datasets, we identify correlations between frame diversity, frame similarity to natural data, and downstream performance. Our approach provides a more controllable and transparent alternative to video data curation processes for pre-training.

We introduce MoRAG, a novel multi-part fusion based retrieval-augmented generation strategy for text-based human motion generation. The method enhances motion diffusion models by leveraging additional knowledge obtained through an improved motion retrieval process. By effectively prompting large language models (LLMs), we address spelling errors and rephrasing issues in motion retrieval. Our approach utilizes a multi-part retrieval strategy to improve the generalizability of motion retrieval across the language space. We create diverse samples through the spatial composition of the retrieved motions. Furthermore, by utilizing low-level, part-specific motion information, we can construct motion samples for unseen text descriptions. Our experiments demonstrate that our framework can serve as a plug-and-play module, improving the performance of motion diffusion models. Code, pretrained models and sample videos will be made available at: https://motion-rag.github.io/

Autonomous driving and assistance systems rely on annotated data from traffic and road scenarios to model and learn the various object relations in complex real-world scenarios. Preparation and training of deploy-able deep learning architectures require the models to be suited to different traffic scenarios and adapt to different situations. Currently, existing datasets, while large-scale, lack such diversities and are geographically biased towards mainly developed cities. An unstructured and complex driving layout found in several developing countries such as India poses a challenge to these models due to the sheer degree of variations in the object types, densities, and locations. To facilitate better research toward accommodating such scenarios, we build a new dataset, IDD-3D, which consists of multi-modal data from multiple cameras and LiDAR sensors with 12k annotated driving LiDAR frames across various traffic scenarios. We discuss the need for this dataset through statistical comparisons with existing datasets and highlight benchmarks on standard 3D object detection and tracking tasks in complex layouts. Code and data available at https://github.com/shubham1810/idd3d_kit.git

Controllable generation of 3D human motions becomes an important topic as the world embraces digital transformation. Existing works, though making promising progress with the advent of diffusion models, heavily rely on meticulously captured and annotated (e.g., text) high-quality motion corpus, a resource-intensive endeavor in the real world. This motivates our proposed MotionMix, a simple yet effective weakly-supervised diffusion model that leverages both noisy and unannotated motion sequences. Specifically, we separate the denoising objectives of a diffusion model into two stages: obtaining conditional rough motion approximations in the initial T-T^* steps by learning the noisy annotated motions, followed by the unconditional refinement of these preliminary motions during the last T^* steps using unannotated motions. Notably, though learning from two sources of imperfect data, our model does not compromise motion generation quality compared to fully supervised approaches that access gold data. Extensive experiments on several benchmarks demonstrate that our MotionMix, as a versatile framework, consistently achieves state-of-the-art performances on text-to-motion, action-to-motion, and music-to-dance tasks. Project page: https://nhathoang2002.github.io/MotionMix-page/

Text-driven human motion synthesis is capturing significant attention for its ability to effortlessly generate intricate movements from abstract text cues, showcasing its potential for revolutionizing motion design not only in film narratives but also in virtual reality experiences and computer game development. Existing methods often rely on 3D motion capture data, which require special setups resulting in higher costs for data acquisition, ultimately limiting the diversity and scope of human motion. In contrast, 2D human videos offer a vast and accessible source of motion data, covering a wider range of styles and activities. In this paper, we explore leveraging 2D human motion extracted from videos as an alternative data source to improve text-driven 3D motion generation. Our approach introduces a novel framework that disentangles local joint motion from global movements, enabling efficient learning of local motion priors from 2D data. We first train a single-view 2D local motion generator on a large dataset of text-motion pairs. To enhance this model to synthesize 3D motion, we fine-tune the generator with 3D data, transforming it into a multi-view generator that predicts view-consistent local joint motion and root dynamics. Experiments on the HumanML3D dataset and novel text prompts demonstrate that our method efficiently utilizes 2D data, supporting realistic 3D human motion generation and broadening the range of motion types it supports. Our code will be made publicly available at https://zju3dv.github.io/Motion-2-to-3/.

We introduce AirLetters, a new video dataset consisting of real-world videos of human-generated, articulated motions. Specifically, our dataset requires a vision model to predict letters that humans draw in the air. Unlike existing video datasets, accurate classification predictions for AirLetters rely critically on discerning motion patterns and on integrating long-range information in the video over time. An extensive evaluation of state-of-the-art image and video understanding models on AirLetters shows that these methods perform poorly and fall far behind a human baseline. Our work shows that, despite recent progress in end-to-end video understanding, accurate representations of complex articulated motions -- a task that is trivial for humans -- remains an open problem for end-to-end learning.

Recent advances in neural reconstruction enable high-quality 3D object reconstruction from casually captured image collections. Current techniques mostly analyze their progress on relatively simple image collections where Structure-from-Motion (SfM) techniques can provide ground-truth (GT) camera poses. We note that SfM techniques tend to fail on in-the-wild image collections such as image search results with varying backgrounds and illuminations. To enable systematic research progress on 3D reconstruction from casual image captures, we propose NAVI: a new dataset of category-agnostic image collections of objects with high-quality 3D scans along with per-image 2D-3D alignments providing near-perfect GT camera parameters. These 2D-3D alignments allow us to extract accurate derivative annotations such as dense pixel correspondences, depth and segmentation maps. We demonstrate the use of NAVI image collections on different problem settings and show that NAVI enables more thorough evaluations that were not possible with existing datasets. We believe NAVI is beneficial for systematic research progress on 3D reconstruction and correspondence estimation. Project page: https://navidataset.github.io

The large abundance of perspective camera datasets facilitated the emergence of novel learning-based strategies for various tasks, such as camera localization, single image depth estimation, or view synthesis. However, panoramic or omnidirectional image datasets, including essential information, such as pose and depth, are mostly made with synthetic scenes. In this work, we introduce a large scale 360^{circ} videos dataset in the wild. This dataset has been carefully scraped from the Internet and has been captured from various locations worldwide. Hence, this dataset exhibits very diversified environments (e.g., indoor and outdoor) and contexts (e.g., with and without moving objects). Each of the 25K images constituting our dataset is provided with its respective camera's pose and depth map. We illustrate the relevance of our dataset for two main tasks, namely, single image depth estimation and view synthesis.

Video Anomaly Detection (VAD) systems can autonomously monitor and identify disturbances, reducing the need for manual labor and associated costs. However, current VAD systems are often limited by their superficial semantic understanding of scenes and minimal user interaction. Additionally, the prevalent data scarcity in existing datasets restricts their applicability in open-world scenarios. In this paper, we introduce Hawk, a novel framework that leverages interactive large Visual Language Models (VLM) to interpret video anomalies precisely. Recognizing the difference in motion information between abnormal and normal videos, Hawk explicitly integrates motion modality to enhance anomaly identification. To reinforce motion attention, we construct an auxiliary consistency loss within the motion and video space, guiding the video branch to focus on the motion modality. Moreover, to improve the interpretation of motion-to-language, we establish a clear supervisory relationship between motion and its linguistic representation. Furthermore, we have annotated over 8,000 anomaly videos with language descriptions, enabling effective training across diverse open-world scenarios, and also created 8,000 question-answering pairs for users' open-world questions. The final results demonstrate that Hawk achieves SOTA performance, surpassing existing baselines in both video description generation and question-answering. Our codes/dataset/demo will be released at https://github.com/jqtangust/hawk.

This paper strives for motion expressions guided video segmentation, which focuses on segmenting objects in video content based on a sentence describing the motion of the objects. Existing referring video object datasets typically focus on salient objects and use language expressions that contain excessive static attributes that could potentially enable the target object to be identified in a single frame. These datasets downplay the importance of motion in video content for language-guided video object segmentation. To investigate the feasibility of using motion expressions to ground and segment objects in videos, we propose a large-scale dataset called MeViS, which contains numerous motion expressions to indicate target objects in complex environments. We benchmarked 5 existing referring video object segmentation (RVOS) methods and conducted a comprehensive comparison on the MeViS dataset. The results show that current RVOS methods cannot effectively address motion expression-guided video segmentation. We further analyze the challenges and propose a baseline approach for the proposed MeViS dataset. The goal of our benchmark is to provide a platform that enables the development of effective language-guided video segmentation algorithms that leverage motion expressions as a primary cue for object segmentation in complex video scenes. The proposed MeViS dataset has been released at https://henghuiding.github.io/MeViS.

Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ 3D point cloud data from consecutive LiDAR scans, although such approaches have been limited by the small size of real-world, annotated LiDAR data. In this work, we introduce a new large-scale dataset for scene flow estimation derived from corresponding tracked 3D objects, which is sim1,000times larger than previous real-world datasets in terms of the number of annotated frames. We demonstrate how previous works were bounded based on the amount of real LiDAR data available, suggesting that larger datasets are required to achieve state-of-the-art predictive performance. Furthermore, we show how previous heuristics for operating on point clouds such as down-sampling heavily degrade performance, motivating a new class of models that are tractable on the full point cloud. To address this issue, we introduce the FastFlow3D architecture which provides real time inference on the full point cloud. Additionally, we design human-interpretable metrics that better capture real world aspects by accounting for ego-motion and providing breakdowns per object type. We hope that this dataset may provide new opportunities for developing real world scene flow systems.

Due to recent advances in pose-estimation methods, human motion can be extracted from a common video in the form of 3D skeleton sequences. Despite wonderful application opportunities, effective and efficient content-based access to large volumes of such spatio-temporal skeleton data still remains a challenging problem. In this paper, we propose a novel content-based text-to-motion retrieval task, which aims at retrieving relevant motions based on a specified natural-language textual description. To define baselines for this uncharted task, we employ the BERT and CLIP language representations to encode the text modality and successful spatio-temporal models to encode the motion modality. We additionally introduce our transformer-based approach, called Motion Transformer (MoT), which employs divided space-time attention to effectively aggregate the different skeleton joints in space and time. Inspired by the recent progress in text-to-image/video matching, we experiment with two widely-adopted metric-learning loss functions. Finally, we set up a common evaluation protocol by defining qualitative metrics for assessing the quality of the retrieved motions, targeting the two recently-introduced KIT Motion-Language and HumanML3D datasets. The code for reproducing our results is available at https://github.com/mesnico/text-to-motion-retrieval.

This paper introduces a novel dataset construction pipeline that samples pairs of frames from videos and uses multimodal large language models (MLLMs) to generate editing instructions for training instruction-based image manipulation models. Video frames inherently preserve the identity of subjects and scenes, ensuring consistent content preservation during editing. Additionally, video data captures diverse, natural dynamics-such as non-rigid subject motion and complex camera movements-that are difficult to model otherwise, making it an ideal source for scalable dataset construction. Using this approach, we create a new dataset to train InstructMove, a model capable of instruction-based complex manipulations that are difficult to achieve with synthetically generated datasets. Our model demonstrates state-of-the-art performance in tasks such as adjusting subject poses, rearranging elements, and altering camera perspectives.

We propose novel motion representations for animating articulated objects consisting of distinct parts. In a completely unsupervised manner, our method identifies object parts, tracks them in a driving video, and infers their motions by considering their principal axes. In contrast to the previous keypoint-based works, our method extracts meaningful and consistent regions, describing locations, shape, and pose. The regions correspond to semantically relevant and distinct object parts, that are more easily detected in frames of the driving video. To force decoupling of foreground from background, we model non-object related global motion with an additional affine transformation. To facilitate animation and prevent the leakage of the shape of the driving object, we disentangle shape and pose of objects in the region space. Our model can animate a variety of objects, surpassing previous methods by a large margin on existing benchmarks. We present a challenging new benchmark with high-resolution videos and show that the improvement is particularly pronounced when articulated objects are considered, reaching 96.6% user preference vs. the state of the art.

Learning to understand dynamic 3D scenes from imagery is crucial for applications ranging from robotics to scene reconstruction. Yet, unlike other problems where large-scale supervised training has enabled rapid progress, directly supervising methods for recovering 3D motion remains challenging due to the fundamental difficulty of obtaining ground truth annotations. We present a system for mining high-quality 4D reconstructions from internet stereoscopic, wide-angle videos. Our system fuses and filters the outputs of camera pose estimation, stereo depth estimation, and temporal tracking methods into high-quality dynamic 3D reconstructions. We use this method to generate large-scale data in the form of world-consistent, pseudo-metric 3D point clouds with long-term motion trajectories. We demonstrate the utility of this data by training a variant of DUSt3R to predict structure and 3D motion from real-world image pairs, showing that training on our reconstructed data enables generalization to diverse real-world scenes. Project page: https://stereo4d.github.io

We introduce an approach for augmenting text-to-video generation models with customized motions, extending their capabilities beyond the motions depicted in the original training data. By leveraging a few video samples demonstrating specific movements as input, our method learns and generalizes the input motion patterns for diverse, text-specified scenarios. Our contributions are threefold. First, to achieve our results, we finetune an existing text-to-video model to learn a novel mapping between the depicted motion in the input examples to a new unique token. To avoid overfitting to the new custom motion, we introduce an approach for regularization over videos. Second, by leveraging the motion priors in a pretrained model, our method can produce novel videos featuring multiple people doing the custom motion, and can invoke the motion in combination with other motions. Furthermore, our approach extends to the multimodal customization of motion and appearance of individualized subjects, enabling the generation of videos featuring unique characters and distinct motions. Third, to validate our method, we introduce an approach for quantitatively evaluating the learned custom motion and perform a systematic ablation study. We show that our method significantly outperforms prior appearance-based customization approaches when extended to the motion customization task.

This paper we present our vision and ongoing work for a novel dataset designed to advance research into the interoperability of intelligent vehicles and infrastructure, specifically aimed at enhancing cooperative perception and interaction in the realm of public transportation. Unlike conventional datasets centered on ego-vehicle data, this approach encompasses both a stationary sensor tower and a moving vehicle, each equipped with cameras, LiDARs, and GNSS, while the vehicle additionally includes an inertial navigation system. Our setup features comprehensive calibration and time synchronization, ensuring seamless and accurate sensor data fusion crucial for studying complex, dynamic scenes. Emphasizing public transportation, the dataset targets to include scenes like bus station maneuvers and driving on dedicated bus lanes, reflecting the specifics of small public buses. We introduce the open-source ".4mse" file format for the new dataset, accompanied by a research kit. This kit provides tools such as ego-motion compensation or LiDAR-to-camera projection enabling advanced research on intelligent vehicle-infrastructure integration. Our approach does not include annotations; however, we plan to implement automatically generated labels sourced from state-of-the-art public repositories. Several aspects are still up for discussion, and timely feedback from the community would be greatly appreciated. A sneak preview on one data frame will be available at a Google Colab Notebook. Moreover, we will use the related GitHub Repository to collect remarks and suggestions.

We have witnessed impressive advances in video action understanding. Increased dataset sizes, variability, and computation availability have enabled leaps in performance and task diversification. Current systems can provide coarse- and fine-grained descriptions of video scenes, extract segments corresponding to queries, synthesize unobserved parts of videos, and predict context. This survey comprehensively reviews advances in uni- and multi-modal action understanding across a range of tasks. We focus on prevalent challenges, overview widely adopted datasets, and survey seminal works with an emphasis on recent advances. We broadly distinguish between three temporal scopes: (1) recognition tasks of actions observed in full, (2) prediction tasks for ongoing partially observed actions, and (3) forecasting tasks for subsequent unobserved action. This division allows us to identify specific action modeling and video representation challenges. Finally, we outline future directions to address current shortcomings.

We propose a self-supervised method for learning motion-focused video representations. Existing approaches minimize distances between temporally augmented videos, which maintain high spatial similarity. We instead propose to learn similarities between videos with identical local motion dynamics but an otherwise different appearance. We do so by adding synthetic motion trajectories to videos which we refer to as tubelets. By simulating different tubelet motions and applying transformations, such as scaling and rotation, we introduce motion patterns beyond what is present in the pretraining data. This allows us to learn a video representation that is remarkably data-efficient: our approach maintains performance when using only 25% of the pretraining videos. Experiments on 10 diverse downstream settings demonstrate our competitive performance and generalizability to new domains and fine-grained actions.

We introduce PointOdyssey, a large-scale synthetic dataset, and data generation framework, for the training and evaluation of long-term fine-grained tracking algorithms. Our goal is to advance the state-of-the-art by placing emphasis on long videos with naturalistic motion. Toward the goal of naturalism, we animate deformable characters using real-world motion capture data, we build 3D scenes to match the motion capture environments, and we render camera viewpoints using trajectories mined via structure-from-motion on real videos. We create combinatorial diversity by randomizing character appearance, motion profiles, materials, lighting, 3D assets, and atmospheric effects. Our dataset currently includes 104 videos, averaging 2,000 frames long, with orders of magnitude more correspondence annotations than prior work. We show that existing methods can be trained from scratch in our dataset and outperform the published variants. Finally, we introduce modifications to the PIPs point tracking method, greatly widening its temporal receptive field, which improves its performance on PointOdyssey as well as on two real-world benchmarks. Our data and code are publicly available at: https://pointodyssey.com

Learning behavioral patterns from observational data has been a de-facto approach to motion forecasting. Yet, the current paradigm suffers from two shortcomings: brittle under distribution shifts and inefficient for knowledge transfer. In this work, we propose to address these challenges from a causal representation perspective. We first introduce a causal formalism of motion forecasting, which casts the problem as a dynamic process with three groups of latent variables, namely invariant variables, style confounders, and spurious features. We then introduce a learning framework that treats each group separately: (i) unlike the common practice mixing datasets collected from different locations, we exploit their subtle distinctions by means of an invariance loss encouraging the model to suppress spurious correlations; (ii) we devise a modular architecture that factorizes the representations of invariant mechanisms and style confounders to approximate a sparse causal graph; (iii) we introduce a style contrastive loss that not only enforces the structure of style representations but also serves as a self-supervisory signal for test-time refinement on the fly. Experiments on synthetic and real datasets show that our proposed method improves the robustness and reusability of learned motion representations, significantly outperforming prior state-of-the-art motion forecasting models for out-of-distribution generalization and low-shot transfer.

Motion time series collected from mobile and wearable devices such as smartphones and smartwatches offer significant insights into human behavioral patterns, with wide applications in healthcare, automation, IoT, and AR/XR due to their low-power, always-on nature. However, given security and privacy concerns, building large-scale motion time series datasets remains difficult, preventing the development of pre-trained models for human activity analysis. Typically, existing models are trained and tested on the same dataset, leading to poor generalizability across variations in device location, device mounting orientation and human activity type. In this paper, we introduce UniMTS, the first unified pre-training procedure for motion time series that generalizes across diverse device latent factors and activities. Specifically, we employ a contrastive learning framework that aligns motion time series with text descriptions enriched by large language models. This helps the model learn the semantics of time series to generalize across activities. Given the absence of large-scale motion time series data, we derive and synthesize time series from existing motion skeleton data with all-joint coverage. Spatio-temporal graph networks are utilized to capture the relationships across joints for generalization across different device locations. We further design rotation-invariant augmentation to make the model agnostic to changes in device mounting orientations. Our model shows exceptional generalizability across 18 motion time series classification benchmark datasets, outperforming the best baselines by 340% in the zero-shot setting, 16.3% in the few-shot setting, and 9.2% in the full-shot setting.

Existing correspondence datasets for two-dimensional (2D) cartoon suffer from simple frame composition and monotonic movements, making them insufficient to simulate real animations. In this work, we present a new 2D animation visual correspondence dataset, AnimeRun, by converting open source three-dimensional (3D) movies to full scenes in 2D style, including simultaneous moving background and interactions of multiple subjects. Our analyses show that the proposed dataset not only resembles real anime more in image composition, but also possesses richer and more complex motion patterns compared to existing datasets. With this dataset, we establish a comprehensive benchmark by evaluating several existing optical flow and segment matching methods, and analyze shortcomings of these methods on animation data. Data, code and other supplementary materials are available at https://lisiyao21.github.io/projects/AnimeRun.

The goal of building a benchmark (suite of datasets) is to provide a unified protocol for fair evaluation and thus facilitate the evolution of a specific area. Nonetheless, we point out that existing protocols of action recognition could yield partial evaluations due to several limitations. To comprehensively probe the effectiveness of spatiotemporal representation learning, we introduce BEAR, a new BEnchmark on video Action Recognition. BEAR is a collection of 18 video datasets grouped into 5 categories (anomaly, gesture, daily, sports, and instructional), which covers a diverse set of real-world applications. With BEAR, we thoroughly evaluate 6 common spatiotemporal models pre-trained by both supervised and self-supervised learning. We also report transfer performance via standard finetuning, few-shot finetuning, and unsupervised domain adaptation. Our observation suggests that current state-of-the-art cannot solidly guarantee high performance on datasets close to real-world applications, and we hope BEAR can serve as a fair and challenging evaluation benchmark to gain insights on building next-generation spatiotemporal learners. Our dataset, code, and models are released at: https://github.com/AndongDeng/BEAR

Spatio-temporal action detection is an important and challenging problem in video understanding. The existing action detection benchmarks are limited in aspects of small numbers of instances in a trimmed video or low-level atomic actions. This paper aims to present a new multi-person dataset of spatio-temporal localized sports actions, coined as MultiSports. We first analyze the important ingredients of constructing a realistic and challenging dataset for spatio-temporal action detection by proposing three criteria: (1) multi-person scenes and motion dependent identification, (2) with well-defined boundaries, (3) relatively fine-grained classes of high complexity. Based on these guide-lines, we build the dataset of MultiSports v1.0 by selecting 4 sports classes, collecting 3200 video clips, and annotating 37701 action instances with 902k bounding boxes. Our datasets are characterized with important properties of high diversity, dense annotation, and high quality. Our Multi-Sports, with its realistic setting and detailed annotations, exposes the intrinsic challenges of spatio-temporal action detection. To benchmark this, we adapt several baseline methods to our dataset and give an in-depth analysis on the action detection results in our dataset. We hope our MultiSports can serve as a standard benchmark for spatio-temporal action detection in the future. Our dataset website is at https://deeperaction.github.io/multisports/.

Text-to-motion generation is a crucial task in computer vision, which generates the target 3D motion by the given text. The existing annotated datasets are limited in scale, resulting in most existing methods overfitting to the small datasets and unable to generalize to the motions of the open domain. Some methods attempt to solve the open-vocabulary motion generation problem by aligning to the CLIP space or using the Pretrain-then-Finetuning paradigm. However, the current annotated dataset's limited scale only allows them to achieve mapping from sub-text-space to sub-motion-space, instead of mapping between full-text-space and full-motion-space (full mapping), which is the key to attaining open-vocabulary motion generation. To this end, this paper proposes to leverage the atomic motion (simple body part motions over a short time period) as an intermediate representation, and leverage two orderly coupled steps, i.e., Textual Decomposition and Sub-motion-space Scattering, to address the full mapping problem. For Textual Decomposition, we design a fine-grained description conversion algorithm, and combine it with the generalization ability of a large language model to convert any given motion text into atomic texts. Sub-motion-space Scattering learns the compositional process from atomic motions to the target motions, to make the learned sub-motion-space scattered to form the full-motion-space. For a given motion of the open domain, it transforms the extrapolation into interpolation and thereby significantly improves generalization. Our network, DSO-Net, combines textual decomposition and sub-motion-space scattering to solve the open-vocabulary motion generation. Extensive experiments demonstrate that our DSO-Net achieves significant improvements over the state-of-the-art methods on open-vocabulary motion generation. Code is available at https://vankouf.github.io/DSONet/.

We present GenMM, a generative model that "mines" as many diverse motions as possible from a single or few example sequences. In stark contrast to existing data-driven methods, which typically require long offline training time, are prone to visual artifacts, and tend to fail on large and complex skeletons, GenMM inherits the training-free nature and the superior quality of the well-known Motion Matching method. GenMM can synthesize a high-quality motion within a fraction of a second, even with highly complex and large skeletal structures. At the heart of our generative framework lies the generative motion matching module, which utilizes the bidirectional visual similarity as a generative cost function to motion matching, and operates in a multi-stage framework to progressively refine a random guess using exemplar motion matches. In addition to diverse motion generation, we show the versatility of our generative framework by extending it to a number of scenarios that are not possible with motion matching alone, including motion completion, key frame-guided generation, infinite looping, and motion reassembly. Code and data for this paper are at https://wyysf-98.github.io/GenMM/

Text-to-motion generation is a formidable task, aiming to produce human motions that align with the input text while also adhering to human capabilities and physical laws. While there have been advancements in diffusion models, their application in discrete spaces remains underexplored. Current methods often overlook the varying significance of different motions, treating them uniformly. It is essential to recognize that not all motions hold the same relevance to a particular textual description. Some motions, being more salient and informative, should be given precedence during generation. In response, we introduce a Priority-Centric Motion Discrete Diffusion Model (M2DM), which utilizes a Transformer-based VQ-VAE to derive a concise, discrete motion representation, incorporating a global self-attention mechanism and a regularization term to counteract code collapse. We also present a motion discrete diffusion model that employs an innovative noise schedule, determined by the significance of each motion token within the entire motion sequence. This approach retains the most salient motions during the reverse diffusion process, leading to more semantically rich and varied motions. Additionally, we formulate two strategies to gauge the importance of motion tokens, drawing from both textual and visual indicators. Comprehensive experiments on the HumanML3D and KIT-ML datasets confirm that our model surpasses existing techniques in fidelity and diversity, particularly for intricate textual descriptions.

We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable speed in this setting. Because the setting is not addressed well by other datasets, we provide a new dataset and benchmark, with high-accuracy, rigorously verified ground truth, on 17 video sequences. Methods developed for wide baseline stereo (e.g., 5-point methods) perform poorly on monocular video. On the other hand, methods used in autonomous driving (e.g., SLAM) leverage specific sensor setups, specific motion models, or local optimization strategies (lagging batch processing) and do not generalize well to handheld video. Finally, for dynamic scenes, commonly used robustification techniques like RANSAC require large numbers of iterations, and become prohibitively slow. We introduce a novel generalization of the Hough transform on SO(3) to efficiently and robustly find the camera rotation most compatible with optical flow. Among comparably fast methods, ours reduces error by almost 50\% over the next best, and is more accurate than any method, irrespective of speed. This represents a strong new performance point for crowded scenes, an important setting for computer vision. The code and the dataset are available at https://fabiendelattre.com/robust-rotation-estimation.

Designing activity detection systems that can be successfully deployed in daily-living environments requires datasets that pose the challenges typical of real-world scenarios. In this paper, we introduce a new untrimmed daily-living dataset that features several real-world challenges: Toyota Smarthome Untrimmed (TSU). TSU contains a wide variety of activities performed in a spontaneous manner. The dataset contains dense annotations including elementary, composite activities and activities involving interactions with objects. We provide an analysis of the real-world challenges featured by our dataset, highlighting the open issues for detection algorithms. We show that current state-of-the-art methods fail to achieve satisfactory performance on the TSU dataset. Therefore, we propose a new baseline method for activity detection to tackle the novel challenges provided by our dataset. This method leverages one modality (i.e. optic flow) to generate the attention weights to guide another modality (i.e RGB) to better detect the activity boundaries. This is particularly beneficial to detect activities characterized by high temporal variance. We show that the method we propose outperforms state-of-the-art methods on TSU and on another popular challenging dataset, Charades.

To enable machines to learn how humans interact with the physical world in our daily activities, it is crucial to provide rich data that encompasses the 3D motion of humans as well as the motion of objects in a learnable 3D representation. Ideally, this data should be collected in a natural setup, capturing the authentic dynamic 3D signals during human-object interactions. To address this challenge, we introduce the ParaHome system, designed to capture and parameterize dynamic 3D movements of humans and objects within a common home environment. Our system consists of a multi-view setup with 70 synchronized RGB cameras, as well as wearable motion capture devices equipped with an IMU-based body suit and hand motion capture gloves. By leveraging the ParaHome system, we collect a novel large-scale dataset of human-object interaction. Notably, our dataset offers key advancement over existing datasets in three main aspects: (1) capturing 3D body and dexterous hand manipulation motion alongside 3D object movement within a contextual home environment during natural activities; (2) encompassing human interaction with multiple objects in various episodic scenarios with corresponding descriptions in texts; (3) including articulated objects with multiple parts expressed with parameterized articulations. Building upon our dataset, we introduce new research tasks aimed at building a generative model for learning and synthesizing human-object interactions in a real-world room setting.

Most existing robotic datasets capture static scene data and thus are limited in evaluating robots' dynamic performance. To address this, we present a mobile robot oriented large-scale indoor dataset, denoted as THUD (Tsinghua University Dynamic) robotic dataset, for training and evaluating their dynamic scene understanding algorithms. Specifically, the THUD dataset construction is first detailed, including organization, acquisition, and annotation methods. It comprises both real-world and synthetic data, collected with a real robot platform and a physical simulation platform, respectively. Our current dataset includes 13 larges-scale dynamic scenarios, 90K image frames, 20M 2D/3D bounding boxes of static and dynamic objects, camera poses, and IMU. The dataset is still continuously expanding. Then, the performance of mainstream indoor scene understanding tasks, e.g. 3D object detection, semantic segmentation, and robot relocalization, is evaluated on our THUD dataset. These experiments reveal serious challenges for some robot scene understanding tasks in dynamic scenes. By sharing this dataset, we aim to foster and iterate new mobile robot algorithms quickly for robot actual working dynamic environment, i.e. complex crowded dynamic scenes.

We present Aria Everyday Activities (AEA) Dataset, an egocentric multimodal open dataset recorded using Project Aria glasses. AEA contains 143 daily activity sequences recorded by multiple wearers in five geographically diverse indoor locations. Each of the recording contains multimodal sensor data recorded through the Project Aria glasses. In addition, AEA provides machine perception data including high frequency globally aligned 3D trajectories, scene point cloud, per-frame 3D eye gaze vector and time aligned speech transcription. In this paper, we demonstrate a few exemplar research applications enabled by this dataset, including neural scene reconstruction and prompted segmentation. AEA is an open source dataset that can be downloaded from projectaria.com. We are also providing open-source implementations and examples of how to use the dataset in Project Aria Tools.

Animal habitat surveys play a critical role in preserving the biodiversity of the land. One of the effective ways to gain insights into animal habitats involves identifying animal footprints, which offers valuable information about species distribution, abundance, and behavior. However, due to the scarcity of animal footprint images, there are no well-maintained public datasets, preventing recent advanced techniques in computer vision from being applied to animal tracking. In this paper, we introduce OpenAnimalTracks dataset, the first publicly available labeled dataset designed to facilitate the automated classification and detection of animal footprints. It contains various footprints from 18 wild animal species. Moreover, we build benchmarks for species classification and detection and show the potential of automated footprint identification with representative classifiers and detection models. We find SwinTransformer achieves a promising classification result, reaching 69.41% in terms of the averaged accuracy. Faster-RCNN achieves mAP of 0.295. We hope our dataset paves the way for automated animal tracking techniques, enhancing our ability to protect and manage biodiversity. Our dataset and code are available at https://github.com/dahlian00/OpenAnimalTracks.

Human motion is created by, and constrained by, our muscles. We take a first step at building computer vision methods that represent the internal muscle activity that causes motion. We present a new dataset, Muscles in Action (MIA), to learn to incorporate muscle activity into human motion representations. The dataset consists of 12.5 hours of synchronized video and surface electromyography (sEMG) data of 10 subjects performing various exercises. Using this dataset, we learn a bidirectional representation that predicts muscle activation from video, and conversely, reconstructs motion from muscle activation. We evaluate our model on in-distribution subjects and exercises, as well as on out-of-distribution subjects and exercises. We demonstrate how advances in modeling both modalities jointly can serve as conditioning for muscularly consistent motion generation. Putting muscles into computer vision systems will enable richer models of virtual humans, with applications in sports, fitness, and AR/VR.

The task of assigning semantic classes and track identities to every pixel in a video is called video panoptic segmentation. Our work is the first that targets this task in a real-world setting requiring dense interpretation in both spatial and temporal domains. As the ground-truth for this task is difficult and expensive to obtain, existing datasets are either constructed synthetically or only sparsely annotated within short video clips. To overcome this, we introduce a new benchmark encompassing two datasets, KITTI-STEP, and MOTChallenge-STEP. The datasets contain long video sequences, providing challenging examples and a test-bed for studying long-term pixel-precise segmentation and tracking under real-world conditions. We further propose a novel evaluation metric Segmentation and Tracking Quality (STQ) that fairly balances semantic and tracking aspects of this task and is more appropriate for evaluating sequences of arbitrary length. Finally, we provide several baselines to evaluate the status of existing methods on this new challenging dataset. We have made our datasets, metric, benchmark servers, and baselines publicly available, and hope this will inspire future research.

Our paper aims to generate diverse and realistic animal motion sequences from textual descriptions, without a large-scale animal text-motion dataset. While the task of text-driven human motion synthesis is already extensively studied and benchmarked, it remains challenging to transfer this success to other skeleton structures with limited data. In this work, we design a model architecture that imitates Generative Pretraining Transformer (GPT), utilizing prior knowledge learned from human data to the animal domain. We jointly train motion autoencoders for both animal and human motions and at the same time optimize through the similarity scores among human motion encoding, animal motion encoding, and text CLIP embedding. Presenting the first solution to this problem, we are able to generate animal motions with high diversity and fidelity, quantitatively and qualitatively outperforming the results of training human motion generation baselines on animal data. Additionally, we introduce AnimalML3D, the first text-animal motion dataset with 1240 animation sequences spanning 36 different animal identities. We hope this dataset would mediate the data scarcity problem in text-driven animal motion generation, providing a new playground for the research community.

Since 2023, Vector Quantization (VQ)-based discrete generation methods have rapidly dominated human motion generation, primarily surpassing diffusion-based continuous generation methods in standard performance metrics. However, VQ-based methods have inherent limitations. Representing continuous motion data as limited discrete tokens leads to inevitable information loss, reduces the diversity of generated motions, and restricts their ability to function effectively as motion priors or generation guidance. In contrast, the continuous space generation nature of diffusion-based methods makes them well-suited to address these limitations and with even potential for model scalability. In this work, we systematically investigate why current VQ-based methods perform well and explore the limitations of existing diffusion-based methods from the perspective of motion data representation and distribution. Drawing on these insights, we preserve the inherent strengths of a diffusion-based human motion generation model and gradually optimize it with inspiration from VQ-based approaches. Our approach introduces a human motion diffusion model enabled to perform bidirectional masked autoregression, optimized with a reformed data representation and distribution. Additionally, we also propose more robust evaluation methods to fairly assess different-based methods. Extensive experiments on benchmark human motion generation datasets demonstrate that our method excels previous methods and achieves state-of-the-art performances.

We present a new traffic dataset, METEOR, which captures traffic patterns and multi-agent driving behaviors in unstructured scenarios. METEOR consists of more than 1000 one-minute videos, over 2 million annotated frames with bounding boxes and GPS trajectories for 16 unique agent categories, and more than 13 million bounding boxes for traffic agents. METEOR is a dataset for rare and interesting, multi-agent driving behaviors that are grouped into traffic violations, atypical interactions, and diverse scenarios. Every video in METEOR is tagged using a diverse range of factors corresponding to weather, time of the day, road conditions, and traffic density. We use METEOR to benchmark perception methods for object detection and multi-agent behavior prediction. Our key finding is that state-of-the-art models for object detection and behavior prediction, which otherwise succeed on existing datasets such as Waymo, fail on the METEOR dataset. METEOR marks the first step towards the development of more sophisticated perception models for dense, heterogeneous, and unstructured scenarios.

Text-guided human motion generation has drawn significant interest because of its impactful applications spanning animation and robotics. Recently, application of diffusion models for motion generation has enabled improvements in the quality of generated motions. However, existing approaches are limited by their reliance on relatively small-scale motion capture data, leading to poor performance on more diverse, in-the-wild prompts. In this paper, we introduce Make-An-Animation, a text-conditioned human motion generation model which learns more diverse poses and prompts from large-scale image-text datasets, enabling significant improvement in performance over prior works. Make-An-Animation is trained in two stages. First, we train on a curated large-scale dataset of (text, static pseudo-pose) pairs extracted from image-text datasets. Second, we fine-tune on motion capture data, adding additional layers to model the temporal dimension. Unlike prior diffusion models for motion generation, Make-An-Animation uses a U-Net architecture similar to recent text-to-video generation models. Human evaluation of motion realism and alignment with input text shows that our model reaches state-of-the-art performance on text-to-motion generation.

Stories and emotions in movies emerge through the effect of well-thought-out directing decisions, in particular camera placement and movement over time. Crafting compelling camera trajectories remains a complex iterative process, even for skilful artists. To tackle this, in this paper, we propose a dataset called the Exceptional Trajectories (E.T.) with camera trajectories along with character information and textual captions encompassing descriptions of both camera and character. To our knowledge, this is the first dataset of its kind. To show the potential applications of the E.T. dataset, we propose a diffusion-based approach, named DIRECTOR, which generates complex camera trajectories from textual captions that describe the relation and synchronisation between the camera and characters. To ensure robust and accurate evaluations, we train on the E.T. dataset CLaTr, a Contrastive Language-Trajectory embedding for evaluation metrics. We posit that our proposed dataset and method significantly advance the democratization of cinematography, making it more accessible to common users.

Spatio-temporal consistency is a critical research topic in video generation. A qualified generated video segment must ensure plot plausibility and coherence while maintaining visual consistency of objects and scenes across varying viewpoints. Prior research, especially in open-source projects, primarily focuses on either temporal or spatial consistency, or their basic combination, such as appending a description of a camera movement after a prompt without constraining the outcomes of this movement. However, camera movement may introduce new objects to the scene or eliminate existing ones, thereby overlaying and affecting the preceding narrative. Especially in videos with numerous camera movements, the interplay between multiple plots becomes increasingly complex. This paper introduces and examines integral spatio-temporal consistency, considering the synergy between plot progression and camera techniques, and the long-term impact of prior content on subsequent generation. Our research encompasses dataset construction through to the development of the model. Initially, we constructed a DropletVideo-10M dataset, which comprises 10 million videos featuring dynamic camera motion and object actions. Each video is annotated with an average caption of 206 words, detailing various camera movements and plot developments. Following this, we developed and trained the DropletVideo model, which excels in preserving spatio-temporal coherence during video generation. The DropletVideo dataset and model are accessible at https://dropletx.github.io.

Computer vision has a great potential to help our daily lives by searching for lost keys, watering flowers or reminding us to take a pill. To succeed with such tasks, computer vision methods need to be trained from real and diverse examples of our daily dynamic scenes. While most of such scenes are not particularly exciting, they typically do not appear on YouTube, in movies or TV broadcasts. So how do we collect sufficiently many diverse but boring samples representing our lives? We propose a novel Hollywood in Homes approach to collect such data. Instead of shooting videos in the lab, we ensure diversity by distributing and crowdsourcing the whole process of video creation from script writing to video recording and annotation. Following this procedure we collect a new dataset, Charades, with hundreds of people recording videos in their own homes, acting out casual everyday activities. The dataset is composed of 9,848 annotated videos with an average length of 30 seconds, showing activities of 267 people from three continents. Each video is annotated by multiple free-text descriptions, action labels, action intervals and classes of interacted objects. In total, Charades provides 27,847 video descriptions, 66,500 temporally localized intervals for 157 action classes and 41,104 labels for 46 object classes. Using this rich data, we evaluate and provide baseline results for several tasks including action recognition and automatic description generation. We believe that the realism, diversity, and casual nature of this dataset will present unique challenges and new opportunities for computer vision community.

In recent years, there has been significant interest in creating 3D avatars and motions, driven by their diverse applications in areas like film-making, video games, AR/VR, and human-robot interaction. However, current efforts primarily concentrate on either generating the 3D avatar mesh alone or producing motion sequences, with integrating these two aspects proving to be a persistent challenge. Additionally, while avatar and motion generation predominantly target humans, extending these techniques to animals remains a significant challenge due to inadequate training data and methods. To bridge these gaps, our paper presents three key contributions. Firstly, we proposed a novel agent-based approach named Motion Avatar, which allows for the automatic generation of high-quality customizable human and animal avatars with motions through text queries. The method significantly advanced the progress in dynamic 3D character generation. Secondly, we introduced a LLM planner that coordinates both motion and avatar generation, which transforms a discriminative planning into a customizable Q&A fashion. Lastly, we presented an animal motion dataset named Zoo-300K, comprising approximately 300,000 text-motion pairs across 65 animal categories and its building pipeline ZooGen, which serves as a valuable resource for the community. See project website https://steve-zeyu-zhang.github.io/MotionAvatar/

In this paper, we present Motion-X, a large-scale 3D expressive whole-body motion dataset. Existing motion datasets predominantly contain body-only poses, lacking facial expressions, hand gestures, and fine-grained pose descriptions. Moreover, they are primarily collected from limited laboratory scenes with textual descriptions manually labeled, which greatly limits their scalability. To overcome these limitations, we develop a whole-body motion and text annotation pipeline, which can automatically annotate motion from either single- or multi-view videos and provide comprehensive semantic labels for each video and fine-grained whole-body pose descriptions for each frame. This pipeline is of high precision, cost-effective, and scalable for further research. Based on it, we construct Motion-X, which comprises 13.7M precise 3D whole-body pose annotations (i.e., SMPL-X) covering 96K motion sequences from massive scenes. Besides, Motion-X provides 13.7M frame-level whole-body pose descriptions and 96K sequence-level semantic labels. Comprehensive experiments demonstrate the accuracy of the annotation pipeline and the significant benefit of Motion-X in enhancing expressive, diverse, and natural motion generation, as well as 3D whole-body human mesh recovery.

Dance requires skillful composition of complex movements that follow rhythmic, tonal and timbral features of music. Formally, generating dance conditioned on a piece of music can be expressed as a problem of modelling a high-dimensional continuous motion signal, conditioned on an audio signal. In this work we make two contributions to tackle this problem. First, we present a novel probabilistic autoregressive architecture that models the distribution over future poses with a normalizing flow conditioned on previous poses as well as music context, using a multimodal transformer encoder. Second, we introduce the currently largest 3D dance-motion dataset, obtained with a variety of motion-capture technologies, and including both professional and casual dancers. Using this dataset, we compare our new model against two baselines, via objective metrics and a user study, and show that both the ability to model a probability distribution, as well as being able to attend over a large motion and music context are necessary to produce interesting, diverse, and realistic dance that matches the music.

The capability to detect boulders on the surface of small bodies is beneficial for vision-based applications such as hazard detection during critical operations and navigation. This task is challenging due to the wide assortment of irregular shapes, the characteristics of the boulders population, and the rapid variability in the illumination conditions. Moreover, the lack of publicly available labeled datasets for these applications damps the research about data-driven algorithms. In this work, the authors provide a statistical characterization and setup used for the generation of two datasets about boulders on small bodies that are made publicly available.

Motion forecasting transforms sequences of past movements and environment context into future motion. Recent methods rely on learned representations, resulting in hidden states that are difficult to interpret. In this work, we use natural language to quantize motion features in a human-interpretable way, and measure the degree to which they are embedded in hidden states. Our experiments reveal that hidden states of motion sequences are arranged with respect to our discrete sets of motion features. Following these insights, we fit control vectors to motion features, which allow for controlling motion forecasts at inference. Consequently, our method enables controlling transformer-based motion forecasting models with textual inputs, providing a unique interface to interact with and understand these models. Our implementation is available at https://github.com/kit-mrt/future-motion

In this paper, we present TMR, a simple yet effective approach for text to 3D human motion retrieval. While previous work has only treated retrieval as a proxy evaluation metric, we tackle it as a standalone task. Our method extends the state-of-the-art text-to-motion synthesis model TEMOS, and incorporates a contrastive loss to better structure the cross-modal latent space. We show that maintaining the motion generation loss, along with the contrastive training, is crucial to obtain good performance. We introduce a benchmark for evaluation and provide an in-depth analysis by reporting results on several protocols. Our extensive experiments on the KIT-ML and HumanML3D datasets show that TMR outperforms the prior work by a significant margin, for example reducing the median rank from 54 to 19. Finally, we showcase the potential of our approach on moment retrieval. Our code and models are publicly available at https://mathis.petrovich.fr/tmr.

Detecting the anomaly of human behavior is paramount to timely recognizing endangering situations, such as street fights or elderly falls. However, anomaly detection is complex since anomalous events are rare and because it is an open set recognition task, i.e., what is anomalous at inference has not been observed at training. We propose COSKAD, a novel model that encodes skeletal human motion by a graph convolutional network and learns to COntract SKeletal kinematic embeddings onto a latent hypersphere of minimum volume for Video Anomaly Detection. We propose three latent spaces: the commonly-adopted Euclidean and the novel spherical and hyperbolic. All variants outperform the state-of-the-art on the most recent UBnormal dataset, for which we contribute a human-related version with annotated skeletons. COSKAD sets a new state-of-the-art on the human-related versions of ShanghaiTech Campus and CUHK Avenue, with performance comparable to video-based methods. Source code and dataset will be released upon acceptance.

Confronting the challenges of data scarcity and advanced motion synthesis in human-scene interaction modeling, we introduce the TRUMANS dataset alongside a novel HSI motion synthesis method. TRUMANS stands as the most comprehensive motion-captured HSI dataset currently available, encompassing over 15 hours of human interactions across 100 indoor scenes. It intricately captures whole-body human motions and part-level object dynamics, focusing on the realism of contact. This dataset is further scaled up by transforming physical environments into exact virtual models and applying extensive augmentations to appearance and motion for both humans and objects while maintaining interaction fidelity. Utilizing TRUMANS, we devise a diffusion-based autoregressive model that efficiently generates HSI sequences of any length, taking into account both scene context and intended actions. In experiments, our approach shows remarkable zero-shot generalizability on a range of 3D scene datasets (e.g., PROX, Replica, ScanNet, ScanNet++), producing motions that closely mimic original motion-captured sequences, as confirmed by quantitative experiments and human studies.

The current biodiversity loss crisis makes animal monitoring a relevant field of study. In light of this, data collected through monitoring can provide essential insights, and information for decision-making aimed at preserving global biodiversity. Despite the importance of such data, there is a notable scarcity of datasets featuring videos of birds, and none of the existing datasets offer detailed annotations of bird behaviors in video format. In response to this gap, our study introduces the first fine-grained video dataset specifically designed for bird behavior detection and species classification. This dataset addresses the need for comprehensive bird video datasets and provides detailed data on bird actions, facilitating the development of deep learning models to recognize these, similar to the advancements made in human action recognition. The proposed dataset comprises 178 videos recorded in Spanish wetlands, capturing 13 different bird species performing 7 distinct behavior classes. In addition, we also present baseline results using state of the art models on two tasks: bird behavior recognition and species classification.

One-class learning is the classic problem of fitting a model to data for which annotations are available only for a single class. In this paper, we propose a novel objective for one-class learning. Our key idea is to use a pair of orthonormal frames -- as subspaces -- to "sandwich" the labeled data via optimizing for two objectives jointly: i) minimize the distance between the origins of the two subspaces, and ii) to maximize the margin between the hyperplanes and the data, either subspace demanding the data to be in its positive and negative orthant respectively. Our proposed objective however leads to a non-convex optimization problem, to which we resort to Riemannian optimization schemes and derive an efficient conjugate gradient scheme on the Stiefel manifold. To study the effectiveness of our scheme, we propose a new dataset~Dash-Cam-Pose, consisting of clips with skeleton poses of humans seated in a car, the task being to classify the clips as normal or abnormal; the latter is when any human pose is out-of-position with regard to say an airbag deployment. Our experiments on the proposed Dash-Cam-Pose dataset, as well as several other standard anomaly/novelty detection benchmarks demonstrate the benefits of our scheme, achieving state-of-the-art one-class accuracy.

We present SignAvatars, the first large-scale, multi-prompt 3D sign language (SL) motion dataset designed to bridge the communication gap for Deaf and hard-of-hearing individuals. While there has been an exponentially growing number of research regarding digital communication, the majority of existing communication technologies primarily cater to spoken or written languages, instead of SL, the essential communication method for Deaf and hard-of-hearing communities. Existing SL datasets, dictionaries, and sign language production (SLP) methods are typically limited to 2D as annotating 3D models and avatars for SL is usually an entirely manual and labor-intensive process conducted by SL experts, often resulting in unnatural avatars. In response to these challenges, we compile and curate the SignAvatars dataset, which comprises 70,000 videos from 153 signers, totaling 8.34 million frames, covering both isolated signs and continuous, co-articulated signs, with multiple prompts including HamNoSys, spoken language, and words. To yield 3D holistic annotations, including meshes and biomechanically-valid poses of body, hands, and face, as well as 2D and 3D keypoints, we introduce an automated annotation pipeline operating on our large corpus of SL videos. SignAvatars facilitates various tasks such as 3D sign language recognition (SLR) and the novel 3D SL production (SLP) from diverse inputs like text scripts, individual words, and HamNoSys notation. Hence, to evaluate the potential of SignAvatars, we further propose a unified benchmark of 3D SL holistic motion production. We believe that this work is a significant step forward towards bringing the digital world to the Deaf and hard-of-hearing communities as well as people interacting with them.

The rapid advancement of deep learning has intensified the need for comprehensive data for use by autonomous driving algorithms. High-quality datasets are crucial for the development of effective data-driven autonomous driving solutions. Next-generation autonomous driving datasets must be multimodal, incorporating data from advanced sensors that feature extensive data coverage, detailed annotations, and diverse scene representation. To address this need, we present OmniHD-Scenes, a large-scale multimodal dataset that provides comprehensive omnidirectional high-definition data. The OmniHD-Scenes dataset combines data from 128-beam LiDAR, six cameras, and six 4D imaging radar systems to achieve full environmental perception. The dataset comprises 1501 clips, each approximately 30-s long, totaling more than 450K synchronized frames and more than 5.85 million synchronized sensor data points. We also propose a novel 4D annotation pipeline. To date, we have annotated 200 clips with more than 514K precise 3D bounding boxes. These clips also include semantic segmentation annotations for static scene elements. Additionally, we introduce a novel automated pipeline for generation of the dense occupancy ground truth, which effectively leverages information from non-key frames. Alongside the proposed dataset, we establish comprehensive evaluation metrics, baseline models, and benchmarks for 3D detection and semantic occupancy prediction. These benchmarks utilize surround-view cameras and 4D imaging radar to explore cost-effective sensor solutions for autonomous driving applications. Extensive experiments demonstrate the effectiveness of our low-cost sensor configuration and its robustness under adverse conditions. Data will be released at https://www.2077ai.com/OmniHD-Scenes.

Smart City applications such as intelligent traffic routing or accident prevention rely on computer vision methods for exact vehicle localization and tracking. Due to the scarcity of accurately labeled data, detecting and tracking vehicles in 3D from multiple cameras proves challenging to explore. We present a massive synthetic dataset for multiple vehicle tracking and segmentation in multiple overlapping and non-overlapping camera views. Unlike existing datasets, which only provide tracking ground truth for 2D bounding boxes, our dataset additionally contains perfect labels for 3D bounding boxes in camera- and world coordinates, depth estimation, and instance, semantic and panoptic segmentation. The dataset consists of 17 hours of labeled video material, recorded from 340 cameras in 64 diverse day, rain, dawn, and night scenes, making it the most extensive dataset for multi-target multi-camera tracking so far. We provide baselines for detection, vehicle re-identification, and single- and multi-camera tracking. Code and data are publicly available.

Video anomaly detection deals with the recognition of abnormal events in videos. Apart from the visual signal, video anomaly detection has also been addressed with the use of skeleton sequences. We propose a holistic representation of skeleton trajectories to learn expected motions across segments at different times. Our approach uses multitask learning to reconstruct any continuous unobserved temporal segment of the trajectory allowing the extrapolation of past or future segments and the interpolation of in-between segments. We use an end-to-end attention-based encoder-decoder. We encode temporally occluded trajectories, jointly learn latent representations of the occluded segments, and reconstruct trajectories based on expected motions across different temporal segments. Extensive experiments on three trajectory-based video anomaly detection datasets show the advantages and effectiveness of our approach with state-of-the-art results on anomaly detection in skeleton trajectories.

With the release of large-scale motion datasets with textual annotations, the task of establishing a robust latent space for language and 3D human motion has recently witnessed a surge of interest. Methods have been proposed to convert human motion and texts into features to achieve accurate correspondence between them. Despite these efforts to align language and motion representations, we claim that the temporal element is often overlooked, especially for compound actions, resulting in chronological inaccuracies. To shed light on the temporal alignment in motion-language latent spaces, we propose Chronologically Accurate Retrieval (CAR) to evaluate the chronological understanding of the models. We decompose textual descriptions into events, and prepare negative text samples by shuffling the order of events in compound action descriptions. We then design a simple task for motion-language models to retrieve the more likely text from the ground truth and its chronologically shuffled version. CAR reveals many cases where current motion-language models fail to distinguish the event chronology of human motion, despite their impressive performance in terms of conventional evaluation metrics. To achieve better temporal alignment between text and motion, we further propose to use these texts with shuffled sequence of events as negative samples during training to reinforce the motion-language models. We conduct experiments on text-motion retrieval and text-to-motion generation using the reinforced motion-language models, which demonstrate improved performance over conventional approaches, indicating the necessity to consider temporal elements in motion-language alignment.

Recent developments in 2D visual generation have been remarkably successful. However, 3D and 4D generation remain challenging in real-world applications due to the lack of large-scale 4D data and effective model design. In this paper, we propose to jointly investigate general 3D and 4D generation by leveraging camera and object movements commonly observed in daily life. Due to the lack of real-world 4D data in the community, we first propose a data curation pipeline to obtain camera poses and object motion strength from videos. Based on this pipeline, we introduce a large-scale real-world 4D scene dataset: CamVid-30K. By leveraging all the 3D and 4D data, we develop our framework, GenXD, which allows us to produce any 3D or 4D scene. We propose multiview-temporal modules, which disentangle camera and object movements, to seamlessly learn from both 3D and 4D data. Additionally, GenXD employs masked latent conditions to support a variety of conditioning views. GenXD can generate videos that follow the camera trajectory as well as consistent 3D views that can be lifted into 3D representations. We perform extensive evaluations across various real-world and synthetic datasets, demonstrating GenXD's effectiveness and versatility compared to previous methods in 3D and 4D generation.

We introduce DragAPart, a method that, given an image and a set of drags as input, can generate a new image of the same object in a new state, compatible with the action of the drags. Differently from prior works that focused on repositioning objects, DragAPart predicts part-level interactions, such as opening and closing a drawer. We study this problem as a proxy for learning a generalist motion model, not restricted to a specific kinematic structure or object category. To this end, we start from a pre-trained image generator and fine-tune it on a new synthetic dataset, Drag-a-Move, which we introduce. Combined with a new encoding for the drags and dataset randomization, the new model generalizes well to real images and different categories. Compared to prior motion-controlled generators, we demonstrate much better part-level motion understanding.

In this paper, we are interested in self-supervised learning the motion cues in videos using dynamic motion filters for a better motion representation to finally boost human action recognition in particular. Thus far, the vision community has focused on spatio-temporal approaches using standard filters, rather we here propose dynamic filters that adaptively learn the video-specific internal motion representation by predicting the short-term future frames. We name this new motion representation, as dynamic motion representation (DMR) and is embedded inside of 3D convolutional network as a new layer, which captures the visual appearance and motion dynamics throughout entire video clip via end-to-end network learning. Simultaneously, we utilize these motion representation to enrich video classification. We have designed the frame prediction task as an auxiliary task to empower the classification problem. With these overall objectives, to this end, we introduce a novel unified spatio-temporal 3D-CNN architecture (DynamoNet) that jointly optimizes the video classification and learning motion representation by predicting future frames as a multi-task learning problem. We conduct experiments on challenging human action datasets: Kinetics 400, UCF101, HMDB51. The experiments using the proposed DynamoNet show promising results on all the datasets.

In this paper, we aim to model 3D scene dynamics from multi-view videos. Unlike the majority of existing works which usually focus on the common task of novel view synthesis within the training time period, we propose to simultaneously learn the geometry, appearance, and physical velocity of 3D scenes only from video frames, such that multiple desirable applications can be supported, including future frame extrapolation, unsupervised 3D semantic scene decomposition, and dynamic motion transfer. Our method consists of three major components, 1) the keyframe dynamic radiance field, 2) the interframe velocity field, and 3) a joint keyframe and interframe optimization module which is the core of our framework to effectively train both networks. To validate our method, we further introduce two dynamic 3D datasets: 1) Dynamic Object dataset, and 2) Dynamic Indoor Scene dataset. We conduct extensive experiments on multiple datasets, demonstrating the superior performance of our method over all baselines, particularly in the critical tasks of future frame extrapolation and unsupervised 3D semantic scene decomposition.

Data-driven modelling and synthesis of motion is an active research area with applications that include animation, games, and social robotics. This paper introduces a new class of probabilistic, generative, and controllable motion-data models based on normalising flows. Models of this kind can describe highly complex distributions, yet can be trained efficiently using exact maximum likelihood, unlike GANs or VAEs. Our proposed model is autoregressive and uses LSTMs to enable arbitrarily long time-dependencies. Importantly, is is also causal, meaning that each pose in the output sequence is generated without access to poses or control inputs from future time steps; this absence of algorithmic latency is important for interactive applications with real-time motion control. The approach can in principle be applied to any type of motion since it does not make restrictive, task-specific assumptions regarding the motion or the character morphology. We evaluate the models on motion-capture datasets of human and quadruped locomotion. Objective and subjective results show that randomly-sampled motion from the proposed method outperforms task-agnostic baselines and attains a motion quality close to recorded motion capture.

Predicting future trajectories for other road agents is an essential task for autonomous vehicles. Established trajectory prediction methods primarily use agent tracks generated by a detection and tracking system and HD map as inputs. In this work, we propose a novel method that also incorporates visual input from surround-view cameras, allowing the model to utilize visual cues such as human gazes and gestures, road conditions, vehicle turn signals, etc, which are typically hidden from the model in prior methods. Furthermore, we use textual descriptions generated by a Vision-Language Model (VLM) and refined by a Large Language Model (LLM) as supervision during training to guide the model on what to learn from the input data. Despite using these extra inputs, our method achieves a latency of 53 ms, making it feasible for real-time processing, which is significantly faster than that of previous single-agent prediction methods with similar performance. Our experiments show that both the visual inputs and the textual descriptions contribute to improvements in trajectory prediction performance, and our qualitative analysis highlights how the model is able to exploit these additional inputs. Lastly, in this work we create and release the nuScenes-Text dataset, which augments the established nuScenes dataset with rich textual annotations for every scene, demonstrating the positive impact of utilizing VLM on trajectory prediction. Our project page is at https://moonseokha.github.io/VisionTrap/

Our work introduces the YCB-Ev dataset, which contains synchronized RGB-D frames and event data that enables evaluating 6DoF object pose estimation algorithms using these modalities. This dataset provides ground truth 6DoF object poses for the same 21 YCB objects that were used in the YCB-Video (YCB-V) dataset, allowing for cross-dataset algorithm performance evaluation. The dataset consists of 21 synchronized event and RGB-D sequences, totalling 13,851 frames (7 minutes and 43 seconds of event data). Notably, 12 of these sequences feature the same object arrangement as the YCB-V subset used in the BOP challenge. Ground truth poses are generated by detecting objects in the RGB-D frames, interpolating the poses to align with the event timestamps, and then transferring them to the event coordinate frame using extrinsic calibration. Our dataset is the first to provide ground truth 6DoF pose data for event streams. Furthermore, we evaluate the generalization capabilities of two state-of-the-art algorithms, which were pre-trained for the BOP challenge, using our novel YCB-V sequences. The dataset is publicly available at https://github.com/paroj/ycbev.

There exist no publicly available annotated underwater multi-object tracking (MOT) datasets captured in turbid environments. To remedy this we propose the BrackishMOT dataset with focus on tracking schools of small fish, which is a notoriously difficult MOT task. BrackishMOT consists of 98 sequences captured in the wild. Alongside the novel dataset, we present baseline results by training a state-of-the-art tracker. Additionally, we propose a framework for creating synthetic sequences in order to expand the dataset. The framework consists of animated fish models and realistic underwater environments. We analyse the effects of including synthetic data during training and show that a combination of real and synthetic underwater training data can enhance tracking performance. Links to code and data can be found at https://www.vap.aau.dk/brackishmot

Three-dimensional (3D) understanding of objects and scenes play a key role in humans' ability to interact with the world and has been an active area of research in computer vision, graphics, and robotics. Large scale synthetic and object-centric 3D datasets have shown to be effective in training models that have 3D understanding of objects. However, applying a similar approach to real-world objects and scenes is difficult due to a lack of large-scale data. Videos are a potential source for real-world 3D data, but finding diverse yet corresponding views of the same content has shown to be difficult at scale. Furthermore, standard videos come with fixed viewpoints, determined at the time of capture. This restricts the ability to access scenes from a variety of more diverse and potentially useful perspectives. We argue that large scale 360 videos can address these limitations to provide: scalable corresponding frames from diverse views. In this paper, we introduce 360-1M, a 360 video dataset, and a process for efficiently finding corresponding frames from diverse viewpoints at scale. We train our diffusion-based model, Odin, on 360-1M. Empowered by the largest real-world, multi-view dataset to date, Odin is able to freely generate novel views of real-world scenes. Unlike previous methods, Odin can move the camera through the environment, enabling the model to infer the geometry and layout of the scene. Additionally, we show improved performance on standard novel view synthesis and 3D reconstruction benchmarks.

We present the HANDAL dataset for category-level object pose estimation and affordance prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects that are of the proper size and shape for functional grasping by robot manipulators, such as pliers, utensils, and screwdrivers. Our annotation process is streamlined, requiring only a single off-the-shelf camera and semi-automated processing, allowing us to produce high-quality 3D annotations without crowd-sourcing. The dataset consists of 308k annotated image frames from 2.2k videos of 212 real-world objects in 17 categories. We focus on hardware and kitchen tool objects to facilitate research in practical scenarios in which a robot manipulator needs to interact with the environment beyond simple pushing or indiscriminate grasping. We outline the usefulness of our dataset for 6-DoF category-level pose+scale estimation and related tasks. We also provide 3D reconstructed meshes of all objects, and we outline some of the bottlenecks to be addressed for democratizing the collection of datasets like this one.

Descriptive video service (DVS) provides linguistic descriptions of movies and allows visually impaired people to follow a movie along with their peers. Such descriptions are by design mainly visual and thus naturally form an interesting data source for computer vision and computational linguistics. In this work we propose a novel dataset which contains transcribed DVS, which is temporally aligned to full length HD movies. In addition we also collected the aligned movie scripts which have been used in prior work and compare the two different sources of descriptions. In total the Movie Description dataset contains a parallel corpus of over 54,000 sentences and video snippets from 72 HD movies. We characterize the dataset by benchmarking different approaches for generating video descriptions. Comparing DVS to scripts, we find that DVS is far more visual and describes precisely what is shown rather than what should happen according to the scripts created prior to movie production.

The potential for deploying autonomous systems can be significantly increased by improving the perception and interpretation of the environment. However, the development of deep learning-based techniques for autonomous systems in unstructured outdoor environments poses challenges due to limited data availability for training and testing. To address this gap, we present the German Outdoor and Offroad Dataset (GOOSE), a comprehensive dataset specifically designed for unstructured outdoor environments. The GOOSE dataset incorporates 10 000 labeled pairs of images and point clouds, which are utilized to train a range of state-of-the-art segmentation models on both image and point cloud data. We open source the dataset, along with an ontology for unstructured terrain, as well as dataset standards and guidelines. This initiative aims to establish a common framework, enabling the seamless inclusion of existing datasets and a fast way to enhance the perception capabilities of various robots operating in unstructured environments. The dataset, pre-trained models for offroad perception, and additional documentation can be found at https://goose-dataset.de/.

Generating realistic human videos remains a challenging task, with the most effective methods currently relying on a human motion sequence as a control signal. Existing approaches often use existing motion extracted from other videos, which restricts applications to specific motion types and global scene matching. We propose Move-in-2D, a novel approach to generate human motion sequences conditioned on a scene image, allowing for diverse motion that adapts to different scenes. Our approach utilizes a diffusion model that accepts both a scene image and text prompt as inputs, producing a motion sequence tailored to the scene. To train this model, we collect a large-scale video dataset featuring single-human activities, annotating each video with the corresponding human motion as the target output. Experiments demonstrate that our method effectively predicts human motion that aligns with the scene image after projection. Furthermore, we show that the generated motion sequence improves human motion quality in video synthesis tasks.

Tracking objects in soccer videos is extremely important to gather both player and team statistics, whether it is to estimate the total distance run, the ball possession or the team formation. Video processing can help automating the extraction of those information, without the need of any invasive sensor, hence applicable to any team on any stadium. Yet, the availability of datasets to train learnable models and benchmarks to evaluate methods on a common testbed is very limited. In this work, we propose a novel dataset for multiple object tracking composed of 200 sequences of 30s each, representative of challenging soccer scenarios, and a complete 45-minutes half-time for long-term tracking. The dataset is fully annotated with bounding boxes and tracklet IDs, enabling the training of MOT baselines in the soccer domain and a full benchmarking of those methods on our segregated challenge sets. Our analysis shows that multiple player, referee and ball tracking in soccer videos is far from being solved, with several improvement required in case of fast motion or in scenarios of severe occlusion.

We present a video generation model that accurately reproduces object motion, changes in camera viewpoint, and new content that arises over time. Existing video generation methods often fail to produce new content as a function of time while maintaining consistencies expected in real environments, such as plausible dynamics and object persistence. A common failure case is for content to never change due to over-reliance on inductive biases to provide temporal consistency, such as a single latent code that dictates content for the entire video. On the other extreme, without long-term consistency, generated videos may morph unrealistically between different scenes. To address these limitations, we prioritize the time axis by redesigning the temporal latent representation and learning long-term consistency from data by training on longer videos. To this end, we leverage a two-phase training strategy, where we separately train using longer videos at a low resolution and shorter videos at a high resolution. To evaluate the capabilities of our model, we introduce two new benchmark datasets with explicit focus on long-term temporal dynamics.

In this era, the success of large language models and text-to-image models can be attributed to the driving force of large-scale datasets. However, in the realm of 3D vision, while remarkable progress has been made with models trained on large-scale synthetic and real-captured object data like Objaverse and MVImgNet, a similar level of progress has not been observed in the domain of human-centric tasks partially due to the lack of a large-scale human dataset. Existing datasets of high-fidelity 3D human capture continue to be mid-sized due to the significant challenges in acquiring large-scale high-quality 3D human data. To bridge this gap, we present MVHumanNet, a dataset that comprises multi-view human action sequences of 4,500 human identities. The primary focus of our work is on collecting human data that features a large number of diverse identities and everyday clothing using a multi-view human capture system, which facilitates easily scalable data collection. Our dataset contains 9,000 daily outfits, 60,000 motion sequences and 645 million frames with extensive annotations, including human masks, camera parameters, 2D and 3D keypoints, SMPL/SMPLX parameters, and corresponding textual descriptions. To explore the potential of MVHumanNet in various 2D and 3D visual tasks, we conducted pilot studies on view-consistent action recognition, human NeRF reconstruction, text-driven view-unconstrained human image generation, as well as 2D view-unconstrained human image and 3D avatar generation. Extensive experiments demonstrate the performance improvements and effective applications enabled by the scale provided by MVHumanNet. As the current largest-scale 3D human dataset, we hope that the release of MVHumanNet data with annotations will foster further innovations in the domain of 3D human-centric tasks at scale.

The challenge of replicating research results has posed a significant impediment to the field of molecular biology. The advent of modern intelligent systems has led to notable progress in various domains. Consequently, we embarked on an investigation of intelligent monitoring systems as a means of tackling the issue of the reproducibility crisis. Specifically, we first curate a comprehensive multimodal dataset, named ProBio, as an initial step towards this objective. This dataset comprises fine-grained hierarchical annotations intended for the purpose of studying activity understanding in BioLab. Next, we devise two challenging benchmarks, transparent solution tracking and multimodal action recognition, to emphasize the unique characteristics and difficulties associated with activity understanding in BioLab settings. Finally, we provide a thorough experimental evaluation of contemporary video understanding models and highlight their limitations in this specialized domain to identify potential avenues for future research. We hope ProBio with associated benchmarks may garner increased focus on modern AI techniques in the realm of molecular biology.

Video generation models are revolutionizing content creation, with image-to-video models drawing increasing attention due to their enhanced controllability, visual consistency, and practical applications. However, despite their popularity, these models rely on user-provided text and image prompts, and there is currently no dedicated dataset for studying these prompts. In this paper, we introduce TIP-I2V, the first large-scale dataset of over 1.70 million unique user-provided Text and Image Prompts specifically for Image-to-Video generation. Additionally, we provide the corresponding generated videos from five state-of-the-art image-to-video models. We begin by outlining the time-consuming and costly process of curating this large-scale dataset. Next, we compare TIP-I2V to two popular prompt datasets, VidProM (text-to-video) and DiffusionDB (text-to-image), highlighting differences in both basic and semantic information. This dataset enables advancements in image-to-video research. For instance, to develop better models, researchers can use the prompts in TIP-I2V to analyze user preferences and evaluate the multi-dimensional performance of their trained models; and to enhance model safety, they may focus on addressing the misinformation issue caused by image-to-video models. The new research inspired by TIP-I2V and the differences with existing datasets emphasize the importance of a specialized image-to-video prompt dataset. The project is publicly available at https://tip-i2v.github.io.

In this paper, we present a novel framework designed to reconstruct long-sequence 3D human motion in the world coordinates from in-the-wild videos with multiple shot transitions. Such long-sequence in-the-wild motions are highly valuable to applications such as motion generation and motion understanding, but are of great challenge to be recovered due to abrupt shot transitions, partial occlusions, and dynamic backgrounds presented in such videos. Existing methods primarily focus on single-shot videos, where continuity is maintained within a single camera view, or simplify multi-shot alignment in camera space only. In this work, we tackle the challenges by integrating an enhanced camera pose estimation with Human Motion Recovery (HMR) by incorporating a shot transition detector and a robust alignment module for accurate pose and orientation continuity across shots. By leveraging a custom motion integrator, we effectively mitigate the problem of foot sliding and ensure temporal consistency in human pose. Extensive evaluations on our created multi-shot dataset from public 3D human datasets demonstrate the robustness of our method in reconstructing realistic human motion in world coordinates.

The progress in maritime obstacle detection is hindered by the lack of a diverse dataset that adequately captures the complexity of general maritime environments. We present the first maritime panoptic obstacle detection benchmark LaRS, featuring scenes from Lakes, Rivers and Seas. Our major contribution is the new dataset, which boasts the largest diversity in recording locations, scene types, obstacle classes, and acquisition conditions among the related datasets. LaRS is composed of over 4000 per-pixel labeled key frames with nine preceding frames to allow utilization of the temporal texture, amounting to over 40k frames. Each key frame is annotated with 8 thing, 3 stuff classes and 19 global scene attributes. We report the results of 27 semantic and panoptic segmentation methods, along with several performance insights and future research directions. To enable objective evaluation, we have implemented an online evaluation server. The LaRS dataset, evaluation toolkit and benchmark are publicly available at: https://lojzezust.github.io/lars-dataset

Despite much progress in large 3D datasets there are currently few interactive 3D object datasets, and their scale is limited due to the manual effort required in their construction. We introduce the static to openable (S2O) task which creates interactive articulated 3D objects from static counterparts through openable part detection, motion prediction, and interior geometry completion. We formulate a unified framework to tackle this task, and curate a challenging dataset of openable 3D objects that serves as a test bed for systematic evaluation. Our experiments benchmark methods from prior work and simple yet effective heuristics for the S2O task. We find that turning static 3D objects into interactively openable counterparts is possible but that all methods struggle to generalize to realistic settings of the task, and we highlight promising future work directions.

We present a new approach for understanding the periodicity structure and semantics of motion datasets, independently of the morphology and skeletal structure of characters. Unlike existing methods using an overly sparse high-dimensional latent, we propose a phase manifold consisting of multiple closed curves, each corresponding to a latent amplitude. With our proposed vector quantized periodic autoencoder, we learn a shared phase manifold for multiple characters, such as a human and a dog, without any supervision. This is achieved by exploiting the discrete structure and a shallow network as bottlenecks, such that semantically similar motions are clustered into the same curve of the manifold, and the motions within the same component are aligned temporally by the phase variable. In combination with an improved motion matching framework, we demonstrate the manifold's capability of timing and semantics alignment in several applications, including motion retrieval, transfer and stylization. Code and pre-trained models for this paper are available at https://peizhuoli.github.io/walkthedog.

This paper presents the Nexar Dashcam Collision Prediction Dataset and Challenge, designed to support research in traffic event analysis, collision prediction, and autonomous vehicle safety. The dataset consists of 1,500 annotated video clips, each approximately 40 seconds long, capturing a diverse range of real-world traffic scenarios. Videos are labeled with event type (collision/near-collision vs. normal driving), environmental conditions (lighting conditions and weather), and scene type (urban, rural, highway, etc.). For collision and near-collision cases, additional temporal labels are provided, including the precise moment of the event and the alert time, marking when the collision first becomes predictable. To advance research on accident prediction, we introduce the Nexar Dashcam Collision Prediction Challenge, a public competition on top of this dataset. Participants are tasked with developing machine learning models that predict the likelihood of an imminent collision, given an input video. Model performance is evaluated using the average precision (AP) computed across multiple intervals before the accident (i.e. 500 ms, 1000 ms, and 1500 ms prior to the event), emphasizing the importance of early and reliable predictions. The dataset is released under an open license with restrictions on unethical use, ensuring responsible research and innovation.

Tracking by detection has been the prevailing paradigm in the field of Multi-object Tracking (MOT). These methods typically rely on the Kalman Filter to estimate the future locations of objects, assuming linear object motion. However, they fall short when tracking objects exhibiting nonlinear and diverse motion in scenarios like dancing and sports. In addition, there has been limited focus on utilizing learning-based motion predictors in MOT. To address these challenges, we resort to exploring data-driven motion prediction methods. Inspired by the great expectation of state space models (SSMs), such as Mamba, in long-term sequence modeling with near-linear complexity, we introduce a Mamba-based motion model named Mamba moTion Predictor (MTP). MTP is designed to model the complex motion patterns of objects like dancers and athletes. Specifically, MTP takes the spatial-temporal location dynamics of objects as input, captures the motion pattern using a bi-Mamba encoding layer, and predicts the next motion. In real-world scenarios, objects may be missed due to occlusion or motion blur, leading to premature termination of their trajectories. To tackle this challenge, we further expand the application of MTP. We employ it in an autoregressive way to compensate for missing observations by utilizing its own predictions as inputs, thereby contributing to more consistent trajectories. Our proposed tracker, MambaTrack, demonstrates advanced performance on benchmarks such as Dancetrack and SportsMOT, which are characterized by complex motion and severe occlusion.

Detecting objects in mobile robotics is crucial for numerous applications, from autonomous navigation to inspection. However, robots are often required to perform tasks in different domains with respect to the training one and need to adapt to these changes. Tiny mobile robots, subject to size, power, and computational constraints, encounter even more difficulties in running and adapting these algorithms. Such adaptability, though, is crucial for real-world deployment, where robots must operate effectively in dynamic and unpredictable settings. In this work, we introduce a novel benchmark to evaluate the continual learning capabilities of object detection systems in tiny robotic platforms. Our contributions include: (i) Tiny Robotics Object Detection (TiROD), a comprehensive dataset collected using a small mobile robot, designed to test the adaptability of object detectors across various domains and classes; (ii) an evaluation of state-of-the-art real-time object detectors combined with different continual learning strategies on this dataset, providing detailed insights into their performance and limitations; and (iii) we publish the data and the code to replicate the results to foster continuous advancements in this field. Our benchmark results indicate key challenges that must be addressed to advance the development of robust and efficient object detection systems for tiny robotics.

Computer vision was long a tool used for aiding visually impaired people to move around their environment and avoid obstacles and falls. Solutions are limited to either indoor or outdoor scenes, which limits the kind of places and scenes visually disabled people can be in, including entertainment places such as theatres. Furthermore, most of the proposed computer-vision-based methods rely on RGB benchmarks to train their models resulting in a limited performance due to the absence of the depth modality. In this paper, we propose a novel RGB-D dataset containing theatre scenes with ground truth human actions and dense captions annotations for image captioning and human action recognition: TS-RGBD dataset. It includes three types of data: RGB, depth, and skeleton sequences, captured by Microsoft Kinect. We test image captioning models on our dataset as well as some skeleton-based human action recognition models in order to extend the range of environment types where a visually disabled person can be, by detecting human actions and textually describing appearances of regions of interest in theatre scenes.

A typical pipeline for multi-object tracking (MOT) is to use a detector for object localization, and following re-identification (re-ID) for object association. This pipeline is partially motivated by recent progress in both object detection and re-ID, and partially motivated by biases in existing tracking datasets, where most objects tend to have distinguishing appearance and re-ID models are sufficient for establishing associations. In response to such bias, we would like to re-emphasize that methods for multi-object tracking should also work when object appearance is not sufficiently discriminative. To this end, we propose a large-scale dataset for multi-human tracking, where humans have similar appearance, diverse motion and extreme articulation. As the dataset contains mostly group dancing videos, we name it "DanceTrack". We expect DanceTrack to provide a better platform to develop more MOT algorithms that rely less on visual discrimination and depend more on motion analysis. We benchmark several state-of-the-art trackers on our dataset and observe a significant performance drop on DanceTrack when compared against existing benchmarks. The dataset, project code and competition server are released at: https://github.com/DanceTrack.

Accurate prediction of pedestrians' future motions is critical for intelligent driving systems. Developing models for this task requires rich datasets containing diverse sets of samples. However, the existing naturalistic trajectory prediction datasets are generally imbalanced in favor of simpler samples and lack challenging scenarios. Such a long-tail effect causes prediction models to underperform on the tail portion of the data distribution containing safety-critical scenarios. Previous methods tackle the long-tail problem using methods such as contrastive learning and class-conditioned hypernetworks. These approaches, however, are not modular and cannot be applied to many machine learning architectures. In this work, we propose a modular model-agnostic framework for trajectory prediction that leverages a specialized mixture of experts. In our approach, each expert is trained with a specialized skill with respect to a particular part of the data. To produce predictions, we utilise a router network that selects the best expert by generating relative confidence scores. We conduct experimentation on common pedestrian trajectory prediction datasets and show that besides achieving state-of-the-art performance, our method significantly performs better on long-tail scenarios. We further conduct ablation studies to highlight the contribution of different proposed components.

Recent work has shown that optical flow estimation can be formulated as a supervised learning task and can be successfully solved with convolutional networks. Training of the so-called FlowNet was enabled by a large synthetically generated dataset. The present paper extends the concept of optical flow estimation via convolutional networks to disparity and scene flow estimation. To this end, we propose three synthetic stereo video datasets with sufficient realism, variation, and size to successfully train large networks. Our datasets are the first large-scale datasets to enable training and evaluating scene flow methods. Besides the datasets, we present a convolutional network for real-time disparity estimation that provides state-of-the-art results. By combining a flow and disparity estimation network and training it jointly, we demonstrate the first scene flow estimation with a convolutional network.

Localizing unusual activities, such as human errors or surveillance incidents, in videos holds practical significance. However, current video understanding models struggle with localizing these unusual events likely because of their insufficient representation in models' pretraining datasets. To explore foundation models' capability in localizing unusual activity, we introduce UAL-Bench, a comprehensive benchmark for unusual activity localization, featuring three video datasets: UAG-OOPS, UAG-SSBD, UAG-FunQA, and an instruction-tune dataset: OOPS-UAG-Instruct, to improve model capabilities. UAL-Bench evaluates three approaches: Video-Language Models (Vid-LLMs), instruction-tuned Vid-LLMs, and a novel integration of Vision-Language Models and Large Language Models (VLM-LLM). Our results show the VLM-LLM approach excels in localizing short-span unusual events and predicting their onset (start time) more accurately than Vid-LLMs. We also propose a new metric, R@1, TD <= p, to address limitations in existing evaluation methods. Our findings highlight the challenges posed by long-duration videos, particularly in autism diagnosis scenarios, and the need for further advancements in localization techniques. Our work not only provides a benchmark for unusual activity localization but also outlines the key challenges for existing foundation models, suggesting future research directions on this important task.

Despite the numerous developments in object tracking, further development of current tracking algorithms is limited by small and mostly saturated datasets. As a matter of fact, data-hungry trackers based on deep-learning currently rely on object detection datasets due to the scarcity of dedicated large-scale tracking datasets. In this work, we present TrackingNet, the first large-scale dataset and benchmark for object tracking in the wild. We provide more than 30K videos with more than 14 million dense bounding box annotations. Our dataset covers a wide selection of object classes in broad and diverse context. By releasing such a large-scale dataset, we expect deep trackers to further improve and generalize. In addition, we introduce a new benchmark composed of 500 novel videos, modeled with a distribution similar to our training dataset. By sequestering the annotation of the test set and providing an online evaluation server, we provide a fair benchmark for future development of object trackers. Deep trackers fine-tuned on a fraction of our dataset improve their performance by up to 1.6% on OTB100 and up to 1.7% on TrackingNet Test. We provide an extensive benchmark on TrackingNet by evaluating more than 20 trackers. Our results suggest that object tracking in the wild is far from being solved.

Datasets drive vision progress, yet existing driving datasets are impoverished in terms of visual content and supported tasks to study multitask learning for autonomous driving. Researchers are usually constrained to study a small set of problems on one dataset, while real-world computer vision applications require performing tasks of various complexities. We construct BDD100K, the largest driving video dataset with 100K videos and 10 tasks to evaluate the exciting progress of image recognition algorithms on autonomous driving. The dataset possesses geographic, environmental, and weather diversity, which is useful for training models that are less likely to be surprised by new conditions. Based on this diverse dataset, we build a benchmark for heterogeneous multitask learning and study how to solve the tasks together. Our experiments show that special training strategies are needed for existing models to perform such heterogeneous tasks. BDD100K opens the door for future studies in this important venue.

Anomaly detection is critical in surveillance systems and patrol robots by identifying anomalous regions in images for early warning. Depending on whether reference data are utilized, anomaly detection can be categorized into anomaly detection with reference and anomaly detection without reference. Currently, anomaly detection without reference, which is closely related to out-of-distribution (OoD) object detection, struggles with learning anomalous patterns due to the difficulty of collecting sufficiently large and diverse anomaly datasets with the inherent rarity and novelty of anomalies. Alternatively, anomaly detection with reference employs the scheme of change detection to identify anomalies by comparing semantic changes between a reference image and a query one. However, there are very few ADr works due to the scarcity of public datasets in this domain. In this paper, we aim to address this gap by introducing the UMAD Benchmark Dataset. To our best knowledge, this is the first benchmark dataset designed specifically for anomaly detection with reference in robotic patrolling scenarios, e.g., where an autonomous robot is employed to detect anomalous objects by comparing a reference and a query video sequences. The reference sequences can be taken by the robot along a specified route when there are no anomalous objects in the scene. The query sequences are captured online by the robot when it is patrolling in the same scene following the same route. Our benchmark dataset is elaborated such that each query image can find a corresponding reference based on accurate robot localization along the same route in the prebuilt 3D map, with which the reference and query images can be geometrically aligned using adaptive warping. Besides the proposed benchmark dataset, we evaluate the baseline models of ADr on this dataset.

Neural networks trained on datasets such as ImageNet have led to major advances in visual object classification. One obstacle that prevents networks from reasoning more deeply about complex scenes and situations, and from integrating visual knowledge with natural language, like humans do, is their lack of common sense knowledge about the physical world. Videos, unlike still images, contain a wealth of detailed information about the physical world. However, most labelled video datasets represent high-level concepts rather than detailed physical aspects about actions and scenes. In this work, we describe our ongoing collection of the "something-something" database of video prediction tasks whose solutions require a common sense understanding of the depicted situation. The database currently contains more than 100,000 videos across 174 classes, which are defined as caption-templates. We also describe the challenges in crowd-sourcing this data at scale.

We present a method to combine markerless motion capture and dense pose feature estimation into a single framework. We demonstrate that dense pose information can help for multiview/single-view motion capture, and multiview motion capture can help the collection of a high-quality dataset for training the dense pose detector. Specifically, we first introduce a novel markerless motion capture method that can take advantage of dense parsing capability provided by the dense pose detector. Thanks to the introduced dense human parsing ability, our method is demonstrated much more efficient, and accurate compared with the available state-of-the-art markerless motion capture approach. Second, we improve the performance of available dense pose detector by using multiview markerless motion capture data. Such dataset is beneficial to dense pose training because they are more dense and accurate and consistent, and can compensate for the corner cases such as unusual viewpoints. We quantitatively demonstrate the improved performance of our dense pose detector over the available DensePose. Our dense pose dataset and detector will be made public.

Existing activity tracker datasets for human activity recognition are typically obtained by having participants perform predefined activities in an enclosed environment under supervision. This results in small datasets with a limited number of activities and heterogeneity, lacking the mixed and nuanced movements normally found in free-living scenarios. As such, models trained on laboratory-style datasets may not generalise out of sample. To address this problem, we introduce a new dataset involving wrist-worn accelerometers, wearable cameras, and sleep diaries, enabling data collection for over 24 hours in a free-living setting. The result is CAPTURE-24, a large activity tracker dataset collected in the wild from 151 participants, amounting to 3883 hours of accelerometer data, of which 2562 hours are annotated. CAPTURE-24 is two to three orders of magnitude larger than existing publicly available datasets, which is critical to developing accurate human activity recognition models.

Small Video Object Detection (SVOD) is a crucial subfield in modern computer vision, essential for early object discovery and detection. However, existing SVOD datasets are scarce and suffer from issues such as insufficiently small objects, limited object categories, and lack of scene diversity, leading to unitary application scenarios for corresponding methods. To address this gap, we develop the XS-VID dataset, which comprises aerial data from various periods and scenes, and annotates eight major object categories. To further evaluate existing methods for detecting extremely small objects, XS-VID extensively collects three types of objects with smaller pixel areas: extremely small (es, 0sim12^2), relatively small (rs, 12^2sim20^2), and generally small (gs, 20^2sim32^2). XS-VID offers unprecedented breadth and depth in covering and quantifying minuscule objects, significantly enriching the scene and object diversity in the dataset. Extensive validations on XS-VID and the publicly available VisDrone2019VID dataset show that existing methods struggle with small object detection and significantly underperform compared to general object detectors. Leveraging the strengths of previous methods and addressing their weaknesses, we propose YOLOFT, which enhances local feature associations and integrates temporal motion features, significantly improving the accuracy and stability of SVOD. Our datasets and benchmarks are available at https://gjhhust.github.io/XS-VID/.

We present an unsupervised representation learning approach that compactly encodes the motion dependencies in videos. Given a pair of images from a video clip, our framework learns to predict the long-term 3D motions. To reduce the complexity of the learning framework, we propose to describe the motion as a sequence of atomic 3D flows computed with RGB-D modality. We use a Recurrent Neural Network based Encoder-Decoder framework to predict these sequences of flows. We argue that in order for the decoder to reconstruct these sequences, the encoder must learn a robust video representation that captures long-term motion dependencies and spatial-temporal relations. We demonstrate the effectiveness of our learned temporal representations on activity classification across multiple modalities and datasets such as NTU RGB+D and MSR Daily Activity 3D. Our framework is generic to any input modality, i.e., RGB, Depth, and RGB-D videos.

Existing datasets for autonomous driving (AD) often lack diversity and long-range capabilities, focusing instead on 360{\deg} perception and temporal reasoning. To address this gap, we introduce Zenseact Open Dataset (ZOD), a large-scale and diverse multimodal dataset collected over two years in various European countries, covering an area 9x that of existing datasets. ZOD boasts the highest range and resolution sensors among comparable datasets, coupled with detailed keyframe annotations for 2D and 3D objects (up to 245m), road instance/semantic segmentation, traffic sign recognition, and road classification. We believe that this unique combination will facilitate breakthroughs in long-range perception and multi-task learning. The dataset is composed of Frames, Sequences, and Drives, designed to encompass both data diversity and support for spatio-temporal learning, sensor fusion, localization, and mapping. Frames consist of 100k curated camera images with two seconds of other supporting sensor data, while the 1473 Sequences and 29 Drives include the entire sensor suite for 20 seconds and a few minutes, respectively. ZOD is the only large-scale AD dataset released under a permissive license, allowing for both research and commercial use. The dataset is accompanied by an extensive development kit. Data and more information are available online (https://zod.zenseact.com).

This paper addresses the long-standing challenge of reconstructing 3D structures from videos with dynamic content. Current approaches to this problem were not designed to operate on casual videos recorded by standard cameras or require a long optimization time. Aiming to significantly improve the efficiency of previous approaches, we present TracksTo4D, a learning-based approach that enables inferring 3D structure and camera positions from dynamic content originating from casual videos using a single efficient feed-forward pass. To achieve this, we propose operating directly over 2D point tracks as input and designing an architecture tailored for processing 2D point tracks. Our proposed architecture is designed with two key principles in mind: (1) it takes into account the inherent symmetries present in the input point tracks data, and (2) it assumes that the movement patterns can be effectively represented using a low-rank approximation. TracksTo4D is trained in an unsupervised way on a dataset of casual videos utilizing only the 2D point tracks extracted from the videos, without any 3D supervision. Our experiments show that TracksTo4D can reconstruct a temporal point cloud and camera positions of the underlying video with accuracy comparable to state-of-the-art methods, while drastically reducing runtime by up to 95\%. We further show that TracksTo4D generalizes well to unseen videos of unseen semantic categories at inference time.

Intelligent agent naturally learns from motion. Various self-supervised algorithms have leveraged motion cues to learn effective visual representations. The hurdle here is that motion is both ambiguous and complex, rendering previous works either suffer from degraded learning efficacy, or resort to strong assumptions on object motions. In this work, we design a new learning-from-motion paradigm to bridge these gaps. Instead of explicitly modeling the motion probabilities, we design the pretext task as a conditional motion propagation problem. Given an input image and several sparse flow guidance vectors on it, our framework seeks to recover the full-image motion. Compared to other alternatives, our framework has several appealing properties: (1) Using sparse flow guidance during training resolves the inherent motion ambiguity, and thus easing feature learning. (2) Solving the pretext task of conditional motion propagation encourages the emergence of kinematically-sound representations that poss greater expressive power. Extensive experiments demonstrate that our framework learns structural and coherent features; and achieves state-of-the-art self-supervision performance on several downstream tasks including semantic segmentation, instance segmentation, and human parsing. Furthermore, our framework is successfully extended to several useful applications such as semi-automatic pixel-level annotation. Project page: "http://mmlab.ie.cuhk.edu.hk/projects/CMP/".

Monocular dynamic reconstruction is a challenging and long-standing vision problem due to the highly ill-posed nature of the task. Existing approaches are limited in that they either depend on templates, are effective only in quasi-static scenes, or fail to model 3D motion explicitly. In this work, we introduce a method capable of reconstructing generic dynamic scenes, featuring explicit, full-sequence-long 3D motion, from casually captured monocular videos. We tackle the under-constrained nature of the problem with two key insights: First, we exploit the low-dimensional structure of 3D motion by representing scene motion with a compact set of SE3 motion bases. Each point's motion is expressed as a linear combination of these bases, facilitating soft decomposition of the scene into multiple rigidly-moving groups. Second, we utilize a comprehensive set of data-driven priors, including monocular depth maps and long-range 2D tracks, and devise a method to effectively consolidate these noisy supervisory signals, resulting in a globally consistent representation of the dynamic scene. Experiments show that our method achieves state-of-the-art performance for both long-range 3D/2D motion estimation and novel view synthesis on dynamic scenes. Project Page: https://shape-of-motion.github.io/

Human image animation involves generating videos from a character photo, allowing user control and unlocking potential for video and movie production. While recent approaches yield impressive results using high-quality training data, the inaccessibility of these datasets hampers fair and transparent benchmarking. Moreover, these approaches prioritize 2D human motion and overlook the significance of camera motions in videos, leading to limited control and unstable video generation.To demystify the training data, we present HumanVid, the first large-scale high-quality dataset tailored for human image animation, which combines crafted real-world and synthetic data. For the real-world data, we compile a vast collection of copyright-free real-world videos from the internet. Through a carefully designed rule-based filtering strategy, we ensure the inclusion of high-quality videos, resulting in a collection of 20K human-centric videos in 1080P resolution. Human and camera motion annotation is accomplished using a 2D pose estimator and a SLAM-based method. For the synthetic data, we gather 2,300 copyright-free 3D avatar assets to augment existing available 3D assets. Notably, we introduce a rule-based camera trajectory generation method, enabling the synthetic pipeline to incorporate diverse and precise camera motion annotation, which can rarely be found in real-world data. To verify the effectiveness of HumanVid, we establish a baseline model named CamAnimate, short for Camera-controllable Human Animation, that considers both human and camera motions as conditions. Through extensive experimentation, we demonstrate that such simple baseline training on our HumanVid achieves state-of-the-art performance in controlling both human pose and camera motions, setting a new benchmark. Code and data will be publicly available at https://github.com/zhenzhiwang/HumanVid/.

This study delves into the realm of multi-modality (i.e., video and motion modalities) human behavior understanding by leveraging the powerful capabilities of Large Language Models (LLMs). Diverging from recent LLMs designed for video-only or motion-only understanding, we argue that understanding human behavior necessitates joint modeling from both videos and motion sequences (e.g., SMPL sequences) to capture nuanced body part dynamics and semantics effectively. In light of this, we present MotionLLM, a straightforward yet effective framework for human motion understanding, captioning, and reasoning. Specifically, MotionLLM adopts a unified video-motion training strategy that leverages the complementary advantages of existing coarse video-text data and fine-grained motion-text data to glean rich spatial-temporal insights. Furthermore, we collect a substantial dataset, MoVid, comprising diverse videos, motions, captions, and instructions. Additionally, we propose the MoVid-Bench, with carefully manual annotations, for better evaluation of human behavior understanding on video and motion. Extensive experiments show the superiority of MotionLLM in the caption, spatial-temporal comprehension, and reasoning ability.

Massive data corpora like WebText, Wikipedia, Conceptual Captions, WebImageText, and LAION have propelled recent dramatic progress in AI. Large neural models trained on such datasets produce impressive results and top many of today's benchmarks. A notable omission within this family of large-scale datasets is 3D data. Despite considerable interest and potential applications in 3D vision, datasets of high-fidelity 3D models continue to be mid-sized with limited diversity of object categories. Addressing this gap, we present Objaverse 1.0, a large dataset of objects with 800K+ (and growing) 3D models with descriptive captions, tags, and animations. Objaverse improves upon present day 3D repositories in terms of scale, number of categories, and in the visual diversity of instances within a category. We demonstrate the large potential of Objaverse via four diverse applications: training generative 3D models, improving tail category segmentation on the LVIS benchmark, training open-vocabulary object-navigation models for Embodied AI, and creating a new benchmark for robustness analysis of vision models. Objaverse can open new directions for research and enable new applications across the field of AI.

We describe the 2020 edition of the DeepMind Kinetics human action dataset, which replenishes and extends the Kinetics-700 dataset. In this new version, there are at least 700 video clips from different YouTube videos for each of the 700 classes. This paper details the changes introduced for this new release of the dataset and includes a comprehensive set of statistics as well as baseline results using the I3D network.

For human-centric large-scale scenes, fine-grained modeling for 3D human global pose and shape is significant for scene understanding and can benefit many real-world applications. In this paper, we present LiveHPS, a novel single-LiDAR-based approach for scene-level human pose and shape estimation without any limitation of light conditions and wearable devices. In particular, we design a distillation mechanism to mitigate the distribution-varying effect of LiDAR point clouds and exploit the temporal-spatial geometric and dynamic information existing in consecutive frames to solve the occlusion and noise disturbance. LiveHPS, with its efficient configuration and high-quality output, is well-suited for real-world applications. Moreover, we propose a huge human motion dataset, named FreeMotion, which is collected in various scenarios with diverse human poses, shapes and translations. It consists of multi-modal and multi-view acquisition data from calibrated and synchronized LiDARs, cameras, and IMUs. Extensive experiments on our new dataset and other public datasets demonstrate the SOTA performance and robustness of our approach. We will release our code and dataset soon.

Music-driven choreography is a challenging problem with a wide variety of industrial applications. Recently, many methods have been proposed to synthesize dance motions from music for a single dancer. However, generating dance motion for a group remains an open problem. In this paper, we present rm AIOZ-GDANCE, a new large-scale dataset for music-driven group dance generation. Unlike existing datasets that only support single dance, our new dataset contains group dance videos, hence supporting the study of group choreography. We propose a semi-autonomous labeling method with humans in the loop to obtain the 3D ground truth for our dataset. The proposed dataset consists of 16.7 hours of paired music and 3D motion from in-the-wild videos, covering 7 dance styles and 16 music genres. We show that naively applying single dance generation technique to creating group dance motion may lead to unsatisfactory results, such as inconsistent movements and collisions between dancers. Based on our new dataset, we propose a new method that takes an input music sequence and a set of 3D positions of dancers to efficiently produce multiple group-coherent choreographies. We propose new evaluation metrics for measuring group dance quality and perform intensive experiments to demonstrate the effectiveness of our method. Our project facilitates future research on group dance generation and is available at: https://aioz-ai.github.io/AIOZ-GDANCE/

Significant advancements in video diffusion models have brought substantial progress to the field of text-to-video (T2V) synthesis. However, existing T2V synthesis model struggle to accurately generate complex motion dynamics, leading to a reduction in video realism. One possible solution is to collect massive data and train the model on it, but this would be extremely expensive. To alleviate this problem, in this paper, we reformulate the typical T2V generation process as a search-based generation pipeline. Instead of scaling up the model training, we employ existing videos as the motion prior database. Specifically, we divide T2V generation process into two steps: (i) For a given prompt input, we search existing text-video datasets to find videos with text labels that closely match the prompt motions. We propose a tailored search algorithm that emphasizes object motion features. (ii) Retrieved videos are processed and distilled into motion priors to fine-tune a pre-trained base T2V model, followed by generating desired videos using input prompt. By utilizing the priors gleaned from the searched videos, we enhance the realism of the generated videos' motion. All operations can be finished on a single NVIDIA RTX 4090 GPU. We validate our method against state-of-the-art T2V models across diverse prompt inputs. The code will be public.

While image retrieval and instance recognition techniques are progressing rapidly, there is a need for challenging datasets to accurately measure their performance -- while posing novel challenges that are relevant for practical applications. We introduce the Google Landmarks Dataset v2 (GLDv2), a new benchmark for large-scale, fine-grained instance recognition and image retrieval in the domain of human-made and natural landmarks. GLDv2 is the largest such dataset to date by a large margin, including over 5M images and 200k distinct instance labels. Its test set consists of 118k images with ground truth annotations for both the retrieval and recognition tasks. The ground truth construction involved over 800 hours of human annotator work. Our new dataset has several challenging properties inspired by real world applications that previous datasets did not consider: An extremely long-tailed class distribution, a large fraction of out-of-domain test photos and large intra-class variability. The dataset is sourced from Wikimedia Commons, the world's largest crowdsourced collection of landmark photos. We provide baseline results for both recognition and retrieval tasks based on state-of-the-art methods as well as competitive results from a public challenge. We further demonstrate the suitability of the dataset for transfer learning by showing that image embeddings trained on it achieve competitive retrieval performance on independent datasets. The dataset images, ground-truth and metric scoring code are available at https://github.com/cvdfoundation/google-landmark.

Objects in videos are typically characterized by continuous smooth motion. We exploit continuous smooth motion in three ways. 1) Improved accuracy by using object motion as an additional source of supervision, which we obtain by anticipating object locations from a static keyframe. 2) Improved efficiency by only doing the expensive feature computations on a small subset of all frames. Because neighboring video frames are often redundant, we only compute features for a single static keyframe and predict object locations in subsequent frames. 3) Reduced annotation cost, where we only annotate the keyframe and use smooth pseudo-motion between keyframes. We demonstrate computational efficiency, annotation efficiency, and improved mean average precision compared to the state-of-the-art on four datasets: ImageNet VID, EPIC KITCHENS-55, YouTube-BoundingBoxes, and Waymo Open dataset. Our source code is available at https://github.com/L-KID/Videoobject-detection-by-location-anticipation.

The recently emerging text-to-motion advances have spired numerous attempts for convenient and interactive human motion generation. Yet, existing methods are largely limited to generating body motions only without considering the rich two-hand motions, let alone handling various conditions like body dynamics or texts. To break the data bottleneck, we propose BOTH57M, a novel multi-modal dataset for two-hand motion generation. Our dataset includes accurate motion tracking for the human body and hands and provides pair-wised finger-level hand annotations and body descriptions. We further provide a strong baseline method, BOTH2Hands, for the novel task: generating vivid two-hand motions from both implicit body dynamics and explicit text prompts. We first warm up two parallel body-to-hand and text-to-hand diffusion models and then utilize the cross-attention transformer for motion blending. Extensive experiments and cross-validations demonstrate the effectiveness of our approach and dataset for generating convincing two-hand motions from the hybrid body-and-textual conditions. Our dataset and code will be disseminated to the community for future research.

Current techniques face difficulties in generating motions from intricate semantic descriptions, primarily due to insufficient semantic annotations in datasets and weak contextual understanding. To address these issues, we present SemanticBoost, a novel framework that tackles both challenges simultaneously. Our framework comprises a Semantic Enhancement module and a Context-Attuned Motion Denoiser (CAMD). The Semantic Enhancement module extracts supplementary semantics from motion data, enriching the dataset's textual description and ensuring precise alignment between text and motion data without depending on large language models. On the other hand, the CAMD approach provides an all-encompassing solution for generating high-quality, semantically consistent motion sequences by effectively capturing context information and aligning the generated motion with the given textual descriptions. Distinct from existing methods, our approach can synthesize accurate orientational movements, combined motions based on specific body part descriptions, and motions generated from complex, extended sentences. Our experimental results demonstrate that SemanticBoost, as a diffusion-based method, outperforms auto-regressive-based techniques, achieving cutting-edge performance on the Humanml3D dataset while maintaining realistic and smooth motion generation quality.

Sora's high-motion intensity and long consistent videos have significantly impacted the field of video generation, attracting unprecedented attention. However, existing publicly available datasets are inadequate for generating Sora-like videos, as they mainly contain short videos with low motion intensity and brief captions. To address these issues, we propose MiraData, a high-quality video dataset that surpasses previous ones in video duration, caption detail, motion strength, and visual quality. We curate MiraData from diverse, manually selected sources and meticulously process the data to obtain semantically consistent clips. GPT-4V is employed to annotate structured captions, providing detailed descriptions from four different perspectives along with a summarized dense caption. To better assess temporal consistency and motion intensity in video generation, we introduce MiraBench, which enhances existing benchmarks by adding 3D consistency and tracking-based motion strength metrics. MiraBench includes 150 evaluation prompts and 17 metrics covering temporal consistency, motion strength, 3D consistency, visual quality, text-video alignment, and distribution similarity. To demonstrate the utility and effectiveness of MiraData, we conduct experiments using our DiT-based video generation model, MiraDiT. The experimental results on MiraBench demonstrate the superiority of MiraData, especially in motion strength.

In this research, we present a novel approach to motion customization in video generation, addressing the widespread gap in the thorough exploration of motion representation within video generative models. Recognizing the unique challenges posed by video's spatiotemporal nature, our method introduces Motion Embeddings, a set of explicit, temporally coherent one-dimensional embeddings derived from a given video. These embeddings are designed to integrate seamlessly with the temporal transformer modules of video diffusion models, modulating self-attention computations across frames without compromising spatial integrity. Our approach offers a compact and efficient solution to motion representation and enables complex manipulations of motion characteristics through vector arithmetic in the embedding space. Furthermore, we identify the Temporal Discrepancy in video generative models, which refers to variations in how different motion modules process temporal relationships between frames. We leverage this understanding to optimize the integration of our motion embeddings. Our contributions include the introduction of a tailored motion embedding for customization tasks, insights into the temporal processing differences in video models, and a demonstration of the practical advantages and effectiveness of our method through extensive experiments.

We wish to automatically predict the "speediness" of moving objects in videos---whether they move faster, at, or slower than their "natural" speed. The core component in our approach is SpeedNet---a novel deep network trained to detect if a video is playing at normal rate, or if it is sped up. SpeedNet is trained on a large corpus of natural videos in a self-supervised manner, without requiring any manual annotations. We show how this single, binary classification network can be used to detect arbitrary rates of speediness of objects. We demonstrate prediction results by SpeedNet on a wide range of videos containing complex natural motions, and examine the visual cues it utilizes for making those predictions. Importantly, we show that through predicting the speed of videos, the model learns a powerful and meaningful space-time representation that goes beyond simple motion cues. We demonstrate how those learned features can boost the performance of self-supervised action recognition, and can be used for video retrieval. Furthermore, we also apply SpeedNet for generating time-varying, adaptive video speedups, which can allow viewers to watch videos faster, but with less of the jittery, unnatural motions typical to videos that are sped up uniformly.

We introduce Constellation, a dataset of 13K images suitable for research on detection of objects in dense urban streetscapes observed from high-elevation cameras, collected for a variety of temporal conditions. The dataset addresses the need for curated data to explore problems in small object detection exemplified by the limited pixel footprint of pedestrians observed tens of meters from above. It enables the testing of object detection models for variations in lighting, building shadows, weather, and scene dynamics. We evaluate contemporary object detection architectures on the dataset, observing that state-of-the-art methods have lower performance in detecting small pedestrians compared to vehicles, corresponding to a 10% difference in average precision (AP). Using structurally similar datasets for pretraining the models results in an increase of 1.8% mean AP (mAP). We further find that incorporating domain-specific data augmentations helps improve model performance. Using pseudo-labeled data, obtained from inference outcomes of the best-performing models, improves the performance of the models. Finally, comparing the models trained using the data collected in two different time intervals, we find a performance drift in models due to the changes in intersection conditions over time. The best-performing model achieves a pedestrian AP of 92.0% with 11.5 ms inference time on NVIDIA A100 GPUs, and an mAP of 95.4%.

In this paper, we introduce HEADS-UP, the first egocentric dataset collected from head-mounted cameras, designed specifically for trajectory prediction in blind assistance systems. With the growing population of blind and visually impaired individuals, the need for intelligent assistive tools that provide real-time warnings about potential collisions with dynamic obstacles is becoming critical. These systems rely on algorithms capable of predicting the trajectories of moving objects, such as pedestrians, to issue timely hazard alerts. However, existing datasets fail to capture the necessary information from the perspective of a blind individual. To address this gap, HEADS-UP offers a novel dataset focused on trajectory prediction in this context. Leveraging this dataset, we propose a semi-local trajectory prediction approach to assess collision risks between blind individuals and pedestrians in dynamic environments. Unlike conventional methods that separately predict the trajectories of both the blind individual (ego agent) and pedestrians, our approach operates within a semi-local coordinate system, a rotated version of the camera's coordinate system, facilitating the prediction process. We validate our method on the HEADS-UP dataset and implement the proposed solution in ROS, performing real-time tests on an NVIDIA Jetson GPU through a user study. Results from both dataset evaluations and live tests demonstrate the robustness and efficiency of our approach.

With the advanced request to employ a team of robots to perform a task collaboratively, the research community has become increasingly interested in collaborative simultaneous localization and mapping. Unfortunately, existing datasets are limited in the scale and variation of the collaborative trajectories, even though generalization between inter-trajectories among different agents is crucial to the overall viability of collaborative tasks. To help align the research community's contributions with realistic multiagent ordinated SLAM problems, we propose S3E, a large-scale multimodal dataset captured by a fleet of unmanned ground vehicles along four designed collaborative trajectory paradigms. S3E consists of 7 outdoor and 5 indoor sequences that each exceed 200 seconds, consisting of well temporal synchronized and spatial calibrated high-frequency IMU, high-quality stereo camera, and 360 degree LiDAR data. Crucially, our effort exceeds previous attempts regarding dataset size, scene variability, and complexity. It has 4x as much average recording time as the pioneering EuRoC dataset. We also provide careful dataset analysis as well as baselines for collaborative SLAM and single counterparts. Data and more up-to-date details are found at https://github.com/PengYu-Team/S3E.

We present a new method for text-driven motion transfer - synthesizing a video that complies with an input text prompt describing the target objects and scene while maintaining an input video's motion and scene layout. Prior methods are confined to transferring motion across two subjects within the same or closely related object categories and are applicable for limited domains (e.g., humans). In this work, we consider a significantly more challenging setting in which the target and source objects differ drastically in shape and fine-grained motion characteristics (e.g., translating a jumping dog into a dolphin). To this end, we leverage a pre-trained and fixed text-to-video diffusion model, which provides us with generative and motion priors. The pillar of our method is a new space-time feature loss derived directly from the model. This loss guides the generation process to preserve the overall motion of the input video while complying with the target object in terms of shape and fine-grained motion traits.

This paper presents M^3GPT, an advanced Multimodal, Multitask framework for Motion comprehension and generation. M^3GPT operates on three fundamental principles. The first focuses on creating a unified representation space for various motion-relevant modalities. We employ discrete vector quantization for multimodal control and generation signals, such as text, music and motion/dance, enabling seamless integration into a large language model (LLM) with a single vocabulary. The second involves modeling model generation directly in the raw motion space. This strategy circumvents the information loss associated with discrete tokenizer, resulting in more detailed and comprehensive model generation. Third, M^3GPT learns to model the connections and synergies among various motion-relevant tasks. Text, the most familiar and well-understood modality for LLMs, is utilized as a bridge to establish connections between different motion tasks, facilitating mutual reinforcement. To our knowledge, M^3GPT is the first model capable of comprehending and generating motions based on multiple signals. Extensive experiments highlight M^3GPT's superior performance across various motion-relevant tasks and its powerful zero-shot generalization capabilities for extremely challenging tasks.

We introduce RoScenes, the largest multi-view roadside perception dataset, which aims to shed light on the development of vision-centric Bird's Eye View (BEV) approaches for more challenging traffic scenes. The highlights of RoScenes include significantly large perception area, full scene coverage and crowded traffic. More specifically, our dataset achieves surprising 21.13M 3D annotations within 64,000 m^2. To relieve the expensive costs of roadside 3D labeling, we present a novel BEV-to-3D joint annotation pipeline to efficiently collect such a large volume of data. After that, we organize a comprehensive study for current BEV methods on RoScenes in terms of effectiveness and efficiency. Tested methods suffer from the vast perception area and variation of sensor layout across scenes, resulting in performance levels falling below expectations. To this end, we propose RoBEV that incorporates feature-guided position embedding for effective 2D-3D feature assignment. With its help, our method outperforms state-of-the-art by a large margin without extra computational overhead on validation set. Our dataset and devkit will be made available at https://github.com/xiaosu-zhu/RoScenes.

AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery method that is based only on scene changes. Our method does not need to encode any assumptions about what is an object, but rather discovers objects by exploiting their coherent move. Changes are initially detected as differences in the depth maps and segmented as objects if they undergo rigid motions. A graph cut optimization propagates the changing labels to geometrically consistent regions. Experiments show that our method achieves state-of-the-art performance on the 3RScan dataset against competitive baselines. The source code of our method can be found at https://github.com/katadam/ObjectsCanMove.

This study seeks to automate camera movement control for filming existing subjects into attractive videos, contrasting with the creation of non-existent content by directly generating the pixels. We select drone videos as our test case due to their rich and challenging motion patterns, distinctive viewing angles, and precise controls. Existing AI videography methods struggle with limited appearance diversity in simulation training, high costs of recording expert operations, and difficulties in designing heuristic-based goals to cover all scenarios. To avoid these issues, we propose a scalable method that involves collecting real-world training data to improve diversity, extracting camera trajectories automatically to minimize annotation costs, and training an effective architecture that does not rely on heuristics. Specifically, we collect 99k high-quality trajectories by running 3D reconstruction on online videos, connecting camera poses from consecutive frames to formulate 3D camera paths, and using Kalman filter to identify and remove low-quality data. Moreover, we introduce DVGFormer, an auto-regressive transformer that leverages the camera path and images from all past frames to predict camera movement in the next frame. We evaluate our system across 38 synthetic natural scenes and 7 real city 3D scans. We show that our system effectively learns to perform challenging camera movements such as navigating through obstacles, maintaining low altitude to increase perceived speed, and orbiting towers and buildings, which are very useful for recording high-quality videos. Data and code are available at dvgformer.github.io.

Recent advancements in visual generation technologies have markedly increased the scale and availability of video datasets, which are crucial for training effective video generation models. However, a significant lack of high-quality, human-centric video datasets presents a challenge to progress in this field. To bridge this gap, we introduce OpenHumanVid, a large-scale and high-quality human-centric video dataset characterized by precise and detailed captions that encompass both human appearance and motion states, along with supplementary human motion conditions, including skeleton sequences and speech audio. To validate the efficacy of this dataset and the associated training strategies, we propose an extension of existing classical diffusion transformer architectures and conduct further pretraining of our models on the proposed dataset. Our findings yield two critical insights: First, the incorporation of a large-scale, high-quality dataset substantially enhances evaluation metrics for generated human videos while preserving performance in general video generation tasks. Second, the effective alignment of text with human appearance, human motion, and facial motion is essential for producing high-quality video outputs. Based on these insights and corresponding methodologies, the straightforward extended network trained on the proposed dataset demonstrates an obvious improvement in the generation of human-centric videos. Project page https://fudan-generative-vision.github.io/OpenHumanVid

We introduce a novel self-supervised learning approach to learn representations of videos that are responsive to changes in the motion dynamics. Our representations can be learned from data without human annotation and provide a substantial boost to the training of neural networks on small labeled data sets for tasks such as action recognition, which require to accurately distinguish the motion of objects. We promote an accurate learning of motion without human annotation by training a neural network to discriminate a video sequence from its temporally transformed versions. To learn to distinguish non-trivial motions, the design of the transformations is based on two principles: 1) To define clusters of motions based on time warps of different magnitude; 2) To ensure that the discrimination is feasible only by observing and analyzing as many image frames as possible. Thus, we introduce the following transformations: forward-backward playback, random frame skipping, and uniform frame skipping. Our experiments show that networks trained with the proposed method yield representations with improved transfer performance for action recognition on UCF101 and HMDB51.

We introduce 4D Motion Scaffolds (MoSca), a neural information processing system designed to reconstruct and synthesize novel views of dynamic scenes from monocular videos captured casually in the wild. To address such a challenging and ill-posed inverse problem, we leverage prior knowledge from foundational vision models, lift the video data to a novel Motion Scaffold (MoSca) representation, which compactly and smoothly encodes the underlying motions / deformations. The scene geometry and appearance are then disentangled from the deformation field, and are encoded by globally fusing the Gaussians anchored onto the MoSca and optimized via Gaussian Splatting. Additionally, camera poses can be seamlessly initialized and refined during the dynamic rendering process, without the need for other pose estimation tools. Experiments demonstrate state-of-the-art performance on dynamic rendering benchmarks.

Human motion generation, a cornerstone technique in animation and video production, has widespread applications in various tasks like text-to-motion and music-to-dance. Previous works focus on developing specialist models tailored for each task without scalability. In this work, we present Large Motion Model (LMM), a motion-centric, multi-modal framework that unifies mainstream motion generation tasks into a generalist model. A unified motion model is appealing since it can leverage a wide range of motion data to achieve broad generalization beyond a single task. However, it is also challenging due to the heterogeneous nature of substantially different motion data and tasks. LMM tackles these challenges from three principled aspects: 1) Data: We consolidate datasets with different modalities, formats and tasks into a comprehensive yet unified motion generation dataset, MotionVerse, comprising 10 tasks, 16 datasets, a total of 320k sequences, and 100 million frames. 2) Architecture: We design an articulated attention mechanism ArtAttention that incorporates body part-aware modeling into Diffusion Transformer backbone. 3) Pre-Training: We propose a novel pre-training strategy for LMM, which employs variable frame rates and masking forms, to better exploit knowledge from diverse training data. Extensive experiments demonstrate that our generalist LMM achieves competitive performance across various standard motion generation tasks over state-of-the-art specialist models. Notably, LMM exhibits strong generalization capabilities and emerging properties across many unseen tasks. Additionally, our ablation studies reveal valuable insights about training and scaling up large motion models for future research.

We introduce UCF101 which is currently the largest dataset of human actions. It consists of 101 action classes, over 13k clips and 27 hours of video data. The database consists of realistic user uploaded videos containing camera motion and cluttered background. Additionally, we provide baseline action recognition results on this new dataset using standard bag of words approach with overall performance of 44.5%. To the best of our knowledge, UCF101 is currently the most challenging dataset of actions due to its large number of classes, large number of clips and also unconstrained nature of such clips.

Recent advances of monocular 3D object detection facilitate the 3D multi-object tracking task based on low-cost camera sensors. In this paper, we find that the motion cue of objects along different time frames is critical in 3D multi-object tracking, which is less explored in existing monocular-based approaches. In this paper, we propose a motion-aware framework for monocular 3D MOT. To this end, we propose MoMA-M3T, a framework that mainly consists of three motion-aware components. First, we represent the possible movement of an object related to all object tracklets in the feature space as its motion features. Then, we further model the historical object tracklet along the time frame in a spatial-temporal perspective via a motion transformer. Finally, we propose a motion-aware matching module to associate historical object tracklets and current observations as final tracking results. We conduct extensive experiments on the nuScenes and KITTI datasets to demonstrate that our MoMA-M3T achieves competitive performance against state-of-the-art methods. Moreover, the proposed tracker is flexible and can be easily plugged into existing image-based 3D object detectors without re-training. Code and models are available at https://github.com/kuanchihhuang/MoMA-M3T.

This paper introduces a public dataset of 1.4 million procedurally-generated bicycle designs represented parametrically, as JSON files, and as rasterized images. The dataset is created through the use of a rendering engine which harnesses the BikeCAD software to generate vector graphics from parametric designs. This rendering engine is discussed in the paper and also released publicly alongside the dataset. Though this dataset has numerous applications, a principal motivation is the need to train cross-modal predictive models between parametric and image-based design representations. For example, we demonstrate that a predictive model can be trained to accurately estimate Contrastive Language-Image Pretraining (CLIP) embeddings from a parametric representation directly. This allows similarity relations to be established between parametric bicycle designs and text strings or reference images. Trained predictive models are also made public. The dataset joins the BIKED dataset family which includes thousands of mixed-representation human-designed bicycle models and several datasets quantifying design performance. The code and dataset can be found at: https://github.com/Lyleregenwetter/BIKED_multimodal/tree/main

We introduce the Cross Human Motion Diffusion Model (CrossDiff), a novel approach for generating high-quality human motion based on textual descriptions. Our method integrates 3D and 2D information using a shared transformer network within the training of the diffusion model, unifying motion noise into a single feature space. This enables cross-decoding of features into both 3D and 2D motion representations, regardless of their original dimension. The primary advantage of CrossDiff is its cross-diffusion mechanism, which allows the model to reverse either 2D or 3D noise into clean motion during training. This capability leverages the complementary information in both motion representations, capturing intricate human movement details often missed by models relying solely on 3D information. Consequently, CrossDiff effectively combines the strengths of both representations to generate more realistic motion sequences. In our experiments, our model demonstrates competitive state-of-the-art performance on text-to-motion benchmarks. Moreover, our method consistently provides enhanced motion generation quality, capturing complex full-body movement intricacies. Additionally, with a pretrained model,our approach accommodates using in the wild 2D motion data without 3D motion ground truth during training to generate 3D motion, highlighting its potential for broader applications and efficient use of available data resources. Project page: https://wonderno.github.io/CrossDiff-webpage/.

We present a novel camera path optimization framework for the task of online video stabilization. Typically, a stabilization pipeline consists of three steps: motion estimating, path smoothing, and novel view rendering. Most previous methods concentrate on motion estimation, proposing various global or local motion models. In contrast, path optimization receives relatively less attention, especially in the important online setting, where no future frames are available. In this work, we adopt recent off-the-shelf high-quality deep motion models for motion estimation to recover the camera trajectory and focus on the latter two steps. Our network takes a short 2D camera path in a sliding window as input and outputs the stabilizing warp field of the last frame in the window, which warps the coming frame to its stabilized position. A hybrid loss is well-defined to constrain the spatial and temporal consistency. In addition, we build a motion dataset that contains stable and unstable motion pairs for the training. Extensive experiments demonstrate that our approach significantly outperforms state-of-the-art online methods both qualitatively and quantitatively and achieves comparable performance to offline methods. Our code and dataset are available at https://github.com/liuzhen03/NNDVS

Tracking pixels in videos is typically studied as an optical flow estimation problem, where every pixel is described with a displacement vector that locates it in the next frame. Even though wider temporal context is freely available, prior efforts to take this into account have yielded only small gains over 2-frame methods. In this paper, we revisit Sand and Teller's "particle video" approach, and study pixel tracking as a long-range motion estimation problem, where every pixel is described with a trajectory that locates it in multiple future frames. We re-build this classic approach using components that drive the current state-of-the-art in flow and object tracking, such as dense cost maps, iterative optimization, and learned appearance updates. We train our models using long-range amodal point trajectories mined from existing optical flow data that we synthetically augment with multi-frame occlusions. We test our approach in trajectory estimation benchmarks and in keypoint label propagation tasks, and compare favorably against state-of-the-art optical flow and feature tracking methods.

Though the advancement of pre-trained large language models unfolds, the exploration of building a unified model for language and other multi-modal data, such as motion, remains challenging and untouched so far. Fortunately, human motion displays a semantic coupling akin to human language, often perceived as a form of body language. By fusing language data with large-scale motion models, motion-language pre-training that can enhance the performance of motion-related tasks becomes feasible. Driven by this insight, we propose MotionGPT, a unified, versatile, and user-friendly motion-language model to handle multiple motion-relevant tasks. Specifically, we employ the discrete vector quantization for human motion and transfer 3D motion into motion tokens, similar to the generation process of word tokens. Building upon this "motion vocabulary", we perform language modeling on both motion and text in a unified manner, treating human motion as a specific language. Moreover, inspired by prompt learning, we pre-train MotionGPT with a mixture of motion-language data and fine-tune it on prompt-based question-and-answer tasks. Extensive experiments demonstrate that MotionGPT achieves state-of-the-art performances on multiple motion tasks including text-driven motion generation, motion captioning, motion prediction, and motion in-between.

This paper presents a vector HD-mapping algorithm that formulates the mapping as a tracking task and uses a history of memory latents to ensure consistent reconstructions over time. Our method, MapTracker, accumulates a sensor stream into memory buffers of two latent representations: 1) Raster latents in the bird's-eye-view (BEV) space and 2) Vector latents over the road elements (i.e., pedestrian-crossings, lane-dividers, and road-boundaries). The approach borrows the query propagation paradigm from the tracking literature that explicitly associates tracked road elements from the previous frame to the current, while fusing a subset of memory latents selected with distance strides to further enhance temporal consistency. A vector latent is decoded to reconstruct the geometry of a road element. The paper further makes benchmark contributions by 1) Improving processing code for existing datasets to produce consistent ground truth with temporal alignments and 2) Augmenting existing mAP metrics with consistency checks. MapTracker significantly outperforms existing methods on both nuScenes and Agroverse2 datasets by over 8% and 19% on the conventional and the new consistency-aware metrics, respectively. The code will be available on our project page: https://map-tracker.github.io.

We introduce Replay, a collection of multi-view, multi-modal videos of humans interacting socially. Each scene is filmed in high production quality, from different viewpoints with several static cameras, as well as wearable action cameras, and recorded with a large array of microphones at different positions in the room. Overall, the dataset contains over 4000 minutes of footage and over 7 million timestamped high-resolution frames annotated with camera poses and partially with foreground masks. The Replay dataset has many potential applications, such as novel-view synthesis, 3D reconstruction, novel-view acoustic synthesis, human body and face analysis, and training generative models. We provide a benchmark for training and evaluating novel-view synthesis, with two scenarios of different difficulty. Finally, we evaluate several baseline state-of-the-art methods on the new benchmark.

In the development of science, accurate and reproducible documentation of the experimental process is crucial. Automatic recognition of the actions in experiments from videos would help experimenters by complementing the recording of experiments. Towards this goal, we propose FineBio, a new fine-grained video dataset of people performing biological experiments. The dataset consists of multi-view videos of 32 participants performing mock biological experiments with a total duration of 14.5 hours. One experiment forms a hierarchical structure, where a protocol consists of several steps, each further decomposed into a set of atomic operations. The uniqueness of biological experiments is that while they require strict adherence to steps described in each protocol, there is freedom in the order of atomic operations. We provide hierarchical annotation on protocols, steps, atomic operations, object locations, and their manipulation states, providing new challenges for structured activity understanding and hand-object interaction recognition. To find out challenges on activity understanding in biological experiments, we introduce baseline models and results on four different tasks, including (i) step segmentation, (ii) atomic operation detection (iii) object detection, and (iv) manipulated/affected object detection. Dataset and code are available from https://github.com/aistairc/FineBio.

In this paper, we present a novel dataset captured using a VR headset to record conversations between participants within a physics simulator (AI2-THOR). Our primary objective is to extend the field of co-speech gesture generation by incorporating rich contextual information within referential settings. Participants engaged in various conversational scenarios, all based on referential communication tasks. The dataset provides a rich set of multimodal recordings such as motion capture, speech, gaze, and scene graphs. This comprehensive dataset aims to enhance the understanding and development of gesture generation models in 3D scenes by providing diverse and contextually rich data.

The recent developments in Large Multi-modal Video Models (Video-LMMs) have significantly enhanced our ability to interpret and analyze video data. Despite their impressive capabilities, current Video-LMMs have not been evaluated for anomaly detection tasks, which is critical to their deployment in practical scenarios e.g., towards identifying deepfakes, manipulated video content, traffic accidents and crimes. In this paper, we introduce VANE-Bench, a benchmark designed to assess the proficiency of Video-LMMs in detecting and localizing anomalies and inconsistencies in videos. Our dataset comprises an array of videos synthetically generated using existing state-of-the-art text-to-video generation models, encompassing a variety of subtle anomalies and inconsistencies grouped into five categories: unnatural transformations, unnatural appearance, pass-through, disappearance and sudden appearance. Additionally, our benchmark features real-world samples from existing anomaly detection datasets, focusing on crime-related irregularities, atypical pedestrian behavior, and unusual events. The task is structured as a visual question-answering challenge to gauge the models' ability to accurately detect and localize the anomalies within the videos. We evaluate nine existing Video-LMMs, both open and closed sources, on this benchmarking task and find that most of the models encounter difficulties in effectively identifying the subtle anomalies. In conclusion, our research offers significant insights into the current capabilities of Video-LMMs in the realm of anomaly detection, highlighting the importance of our work in evaluating and improving these models for real-world applications. Our code and data is available at https://hananshafi.github.io/vane-benchmark/

This paper describes the first open dataset for full-scale and high-speed autonomous racing. Multi-modal sensor data has been collected from fully autonomous Indy race cars operating at speeds of up to 170 mph (273 kph). Six teams who raced in the Indy Autonomous Challenge have contributed to this dataset. The dataset spans 11 interesting racing scenarios across two race tracks which include solo laps, multi-agent laps, overtaking situations, high-accelerations, banked tracks, obstacle avoidance, pit entry and exit at different speeds. The dataset contains data from 27 racing sessions across the 11 scenarios with over 6.5 hours of sensor data recorded from the track. The data is organized and released in both ROS2 and nuScenes format. We have also developed the ROS2-to-nuScenes conversion library to achieve this. The RACECAR data is unique because of the high-speed environment of autonomous racing. We present several benchmark problems on localization, object detection and tracking (LiDAR, Radar, and Camera), and mapping using the RACECAR data to explore issues that arise at the limits of operation of the vehicle.

Surface reconstruction from multiple, calibrated images is a challenging task - often requiring a large number of collected images with significant overlap. We look at the specific case of human foot reconstruction. As with previous successful foot reconstruction work, we seek to extract rich per-pixel geometry cues from multi-view RGB images, and fuse these into a final 3D object. Our method, FOCUS, tackles this problem with 3 main contributions: (i) SynFoot2, an extension of an existing synthetic foot dataset to include a new data type: dense correspondence with the parameterized foot model FIND; (ii) an uncertainty-aware dense correspondence predictor trained on our synthetic dataset; (iii) two methods for reconstructing a 3D surface from dense correspondence predictions: one inspired by Structure-from-Motion, and one optimization-based using the FIND model. We show that our reconstruction achieves state-of-the-art reconstruction quality in a few-view setting, performing comparably to state-of-the-art when many views are available, and runs substantially faster. We release our synthetic dataset to the research community. Code is available at: https://github.com/OllieBoyne/FOCUS

Existing deep video models are limited by specific tasks, fixed input-output spaces, and poor generalization capabilities, making it difficult to deploy them in real-world scenarios. In this paper, we present our vision for multimodal and versatile video understanding and propose a prototype system, \system. Our system is built upon a tracklet-centric paradigm, which treats tracklets as the basic video unit and employs various Video Foundation Models (ViFMs) to annotate their properties e.g., appearance, motion, \etc. All the detected tracklets are stored in a database and interact with the user through a database manager. We have conducted extensive case studies on different types of in-the-wild videos, which demonstrates the effectiveness of our method in answering various video-related problems. Our project is available at https://www.wangjunke.info/ChatVideo/

We present a large-scale study on unsupervised spatiotemporal representation learning from videos. With a unified perspective on four recent image-based frameworks, we study a simple objective that can easily generalize all these methods to space-time. Our objective encourages temporally-persistent features in the same video, and in spite of its simplicity, it works surprisingly well across: (i) different unsupervised frameworks, (ii) pre-training datasets, (iii) downstream datasets, and (iv) backbone architectures. We draw a series of intriguing observations from this study, e.g., we discover that encouraging long-spanned persistency can be effective even if the timespan is 60 seconds. In addition to state-of-the-art results in multiple benchmarks, we report a few promising cases in which unsupervised pre-training can outperform its supervised counterpart. Code is made available at https://github.com/facebookresearch/SlowFast

The long-standing problem of novel view synthesis has many applications, notably in sports broadcasting. Photorealistic novel view synthesis of soccer actions, in particular, is of enormous interest to the broadcast industry. Yet only a few industrial solutions have been proposed, and even fewer that achieve near-broadcast quality of the synthetic replays. Except for their setup of multiple static cameras around the playfield, the best proprietary systems disclose close to no information about their inner workings. Leveraging multiple static cameras for such a task indeed presents a challenge rarely tackled in the literature, for a lack of public datasets: the reconstruction of a large-scale, mostly static environment, with small, fast-moving elements. Recently, the emergence of neural radiance fields has induced stunning progress in many novel view synthesis applications, leveraging deep learning principles to produce photorealistic results in the most challenging settings. In this work, we investigate the feasibility of basing a solution to the task on dynamic NeRFs, i.e., neural models purposed to reconstruct general dynamic content. We compose synthetic soccer environments and conduct multiple experiments using them, identifying key components that help reconstruct soccer scenes with dynamic NeRFs. We show that, although this approach cannot fully meet the quality requirements for the target application, it suggests promising avenues toward a cost-efficient, automatic solution. We also make our work dataset and code publicly available, with the goal to encourage further efforts from the research community on the task of novel view synthesis for dynamic soccer scenes. For code, data, and video results, please see https://soccernerfs.isach.be.

In order to build artificial intelligence systems that can perceive and reason with human behavior in the real world, we must first design models that conduct complex spatio-temporal reasoning over motion sequences. Moving towards this goal, we propose the HumanMotionQA task to evaluate complex, multi-step reasoning abilities of models on long-form human motion sequences. We generate a dataset of question-answer pairs that require detecting motor cues in small portions of motion sequences, reasoning temporally about when events occur, and querying specific motion attributes. In addition, we propose NSPose, a neuro-symbolic method for this task that uses symbolic reasoning and a modular design to ground motion through learning motion concepts, attribute neural operators, and temporal relations. We demonstrate the suitability of NSPose for the HumanMotionQA task, outperforming all baseline methods.

We introduce HOT3D, a publicly available dataset for egocentric hand and object tracking in 3D. The dataset offers over 833 minutes (more than 3.7M images) of multi-view RGB/monochrome image streams showing 19 subjects interacting with 33 diverse rigid objects, multi-modal signals such as eye gaze or scene point clouds, as well as comprehensive ground truth annotations including 3D poses of objects, hands, and cameras, and 3D models of hands and objects. In addition to simple pick-up/observe/put-down actions, HOT3D contains scenarios resembling typical actions in a kitchen, office, and living room environment. The dataset is recorded by two head-mounted devices from Meta: Project Aria, a research prototype of light-weight AR/AI glasses, and Quest 3, a production VR headset sold in millions of units. Ground-truth poses were obtained by a professional motion-capture system using small optical markers attached to hands and objects. Hand annotations are provided in the UmeTrack and MANO formats and objects are represented by 3D meshes with PBR materials obtained by an in-house scanner. We aim to accelerate research on egocentric hand-object interaction by making the HOT3D dataset publicly available and by co-organizing public challenges on the dataset at ECCV 2024. The dataset can be downloaded from the project website: https://facebookresearch.github.io/hot3d/.

We present a new test-time optimization method for estimating dense and long-range motion from a video sequence. Prior optical flow or particle video tracking algorithms typically operate within limited temporal windows, struggling to track through occlusions and maintain global consistency of estimated motion trajectories. We propose a complete and globally consistent motion representation, dubbed OmniMotion, that allows for accurate, full-length motion estimation of every pixel in a video. OmniMotion represents a video using a quasi-3D canonical volume and performs pixel-wise tracking via bijections between local and canonical space. This representation allows us to ensure global consistency, track through occlusions, and model any combination of camera and object motion. Extensive evaluations on the TAP-Vid benchmark and real-world footage show that our approach outperforms prior state-of-the-art methods by a large margin both quantitatively and qualitatively. See our project page for more results: http://omnimotion.github.io/

This paper introduces MotionLLaMA, a unified framework for motion synthesis and comprehension, along with a novel full-body motion tokenizer called the HoMi Tokenizer. MotionLLaMA is developed based on three core principles. First, it establishes a powerful unified representation space through the HoMi Tokenizer. Using a single codebook, the HoMi Tokenizer in MotionLLaMA achieves reconstruction accuracy comparable to residual vector quantization tokenizers utilizing six codebooks, outperforming all existing single-codebook tokenizers. Second, MotionLLaMA integrates a large language model to tackle various motion-related tasks. This integration bridges various modalities, facilitating both comprehensive and intricate motion synthesis and comprehension. Third, MotionLLaMA introduces the MotionHub dataset, currently the most extensive multimodal, multitask motion dataset, which enables fine-tuning of large language models. Extensive experimental results demonstrate that MotionLLaMA not only covers the widest range of motion-related tasks but also achieves state-of-the-art (SOTA) performance in motion completion, interaction dual-person text-to-motion, and all comprehension tasks while reaching performance comparable to SOTA in the remaining tasks. The code and MotionHub dataset are publicly available.

This paper presents WALDO (WArping Layer-Decomposed Objects), a novel approach to the prediction of future video frames from past ones. Individual images are decomposed into multiple layers combining object masks and a small set of control points. The layer structure is shared across all frames in each video to build dense inter-frame connections. Complex scene motions are modeled by combining parametric geometric transformations associated with individual layers, and video synthesis is broken down into discovering the layers associated with past frames, predicting the corresponding transformations for upcoming ones and warping the associated object regions accordingly, and filling in the remaining image parts. Extensive experiments on multiple benchmarks including urban videos (Cityscapes and KITTI) and videos featuring nonrigid motions (UCF-Sports and H3.6M), show that our method consistently outperforms the state of the art by a significant margin in every case. Code, pretrained models, and video samples synthesized by our approach can be found in the project webpage https://16lemoing.github.io/waldo.

Recently, text-to-motion models have opened new possibilities for creating realistic human motion with greater efficiency and flexibility. However, aligning motion generation with event-level textual descriptions presents unique challenges due to the complex relationship between textual prompts and desired motion outcomes. To address this, we introduce AToM, a framework that enhances the alignment between generated motion and text prompts by leveraging reward from GPT-4Vision. AToM comprises three main stages: Firstly, we construct a dataset MotionPrefer that pairs three types of event-level textual prompts with generated motions, which cover the integrity, temporal relationship and frequency of motion. Secondly, we design a paradigm that utilizes GPT-4Vision for detailed motion annotation, including visual data formatting, task-specific instructions and scoring rules for each sub-task. Finally, we fine-tune an existing text-to-motion model using reinforcement learning guided by this paradigm. Experimental results demonstrate that AToM significantly improves the event-level alignment quality of text-to-motion generation.

In this work, we present MotionBooth, an innovative framework designed for animating customized subjects with precise control over both object and camera movements. By leveraging a few images of a specific object, we efficiently fine-tune a text-to-video model to capture the object's shape and attributes accurately. Our approach presents subject region loss and video preservation loss to enhance the subject's learning performance, along with a subject token cross-attention loss to integrate the customized subject with motion control signals. Additionally, we propose training-free techniques for managing subject and camera motions during inference. In particular, we utilize cross-attention map manipulation to govern subject motion and introduce a novel latent shift module for camera movement control as well. MotionBooth excels in preserving the appearance of subjects while simultaneously controlling the motions in generated videos. Extensive quantitative and qualitative evaluations demonstrate the superiority and effectiveness of our method. Our project page is at https://jianzongwu.github.io/projects/motionbooth

Videos often capture objects, their visible properties, their motion, and the interactions between different objects. Objects also have physical properties such as mass, which the imaging pipeline is unable to directly capture. However, these properties can be estimated by utilizing cues from relative object motion and the dynamics introduced by collisions. In this paper, we introduce CRIPP-VQA, a new video question answering dataset for reasoning about the implicit physical properties of objects in a scene. CRIPP-VQA contains videos of objects in motion, annotated with questions that involve counterfactual reasoning about the effect of actions, questions about planning in order to reach a goal, and descriptive questions about visible properties of objects. The CRIPP-VQA test set enables evaluation under several out-of-distribution settings -- videos with objects with masses, coefficients of friction, and initial velocities that are not observed in the training distribution. Our experiments reveal a surprising and significant performance gap in terms of answering questions about implicit properties (the focus of this paper) and explicit properties of objects (the focus of prior work).

We present a novel model for Tracking Any Point (TAP) that effectively tracks any queried point on any physical surface throughout a video sequence. Our approach employs two stages: (1) a matching stage, which independently locates a suitable candidate point match for the query point on every other frame, and (2) a refinement stage, which updates both the trajectory and query features based on local correlations. The resulting model surpasses all baseline methods by a significant margin on the TAP-Vid benchmark, as demonstrated by an approximate 20% absolute average Jaccard (AJ) improvement on DAVIS. Our model facilitates fast inference on long and high-resolution video sequences. On a modern GPU, our implementation has the capacity to track points faster than real-time, and can be flexibly extended to higher-resolution videos. Given the high-quality trajectories extracted from a large dataset, we demonstrate a proof-of-concept diffusion model which generates trajectories from static images, enabling plausible animations. Visualizations, source code, and pretrained models can be found on our project webpage.

Despite the recent progress in text-to-video generation, existing studies usually overlook the issue that only spatial contents but not temporal motions in synthesized videos are under the control of text. Towards such a challenge, this work presents a practical system, named LivePhoto, which allows users to animate an image of their interest with text descriptions. We first establish a strong baseline that helps a well-learned text-to-image generator (i.e., Stable Diffusion) take an image as a further input. We then equip the improved generator with a motion module for temporal modeling and propose a carefully designed training pipeline to better link texts and motions. In particular, considering the facts that (1) text can only describe motions roughly (e.g., regardless of the moving speed) and (2) text may include both content and motion descriptions, we introduce a motion intensity estimation module as well as a text re-weighting module to reduce the ambiguity of text-to-motion mapping. Empirical evidence suggests that our approach is capable of well decoding motion-related textual instructions into videos, such as actions, camera movements, or even conjuring new contents from thin air (e.g., pouring water into an empty glass). Interestingly, thanks to the proposed intensity learning mechanism, our system offers users an additional control signal (i.e., the motion intensity) besides text for video customization.

We present Stable Video 4D (SV4D), a latent video diffusion model for multi-frame and multi-view consistent dynamic 3D content generation. Unlike previous methods that rely on separately trained generative models for video generation and novel view synthesis, we design a unified diffusion model to generate novel view videos of dynamic 3D objects. Specifically, given a monocular reference video, SV4D generates novel views for each video frame that are temporally consistent. We then use the generated novel view videos to optimize an implicit 4D representation (dynamic NeRF) efficiently, without the need for cumbersome SDS-based optimization used in most prior works. To train our unified novel view video generation model, we curated a dynamic 3D object dataset from the existing Objaverse dataset. Extensive experimental results on multiple datasets and user studies demonstrate SV4D's state-of-the-art performance on novel-view video synthesis as well as 4D generation compared to prior works.

Large-scale pretrained image-text models have shown incredible zero-shot performance in a handful of tasks, including video ones such as action recognition and text-to-video retrieval. However, these models have not been adapted to video, mainly because they do not account for the time dimension but also because video frames are different from the typical images (e.g., containing motion blur, and less sharpness). In this paper, we present a fine-tuning strategy to refine these large-scale pretrained image-text models for zero-shot video understanding tasks. We show that by carefully adapting these models we obtain considerable improvements on two zero-shot Action Recognition tasks and three zero-shot Text-to-video Retrieval tasks. The code is available at https://github.com/bryant1410/fitclip

In this work, we present DreamDance, a novel method for animating human images using only skeleton pose sequences as conditional inputs. Existing approaches struggle with generating coherent, high-quality content in an efficient and user-friendly manner. Concretely, baseline methods relying on only 2D pose guidance lack the cues of 3D information, leading to suboptimal results, while methods using 3D representation as guidance achieve higher quality but involve a cumbersome and time-intensive process. To address these limitations, DreamDance enriches 3D geometry cues from 2D poses by introducing an efficient diffusion model, enabling high-quality human image animation with various guidance. Our key insight is that human images naturally exhibit multiple levels of correlation, progressing from coarse skeleton poses to fine-grained geometry cues, and further from these geometry cues to explicit appearance details. Capturing such correlations could enrich the guidance signals, facilitating intra-frame coherency and inter-frame consistency. Specifically, we construct the TikTok-Dance5K dataset, comprising 5K high-quality dance videos with detailed frame annotations, including human pose, depth, and normal maps. Next, we introduce a Mutually Aligned Geometry Diffusion Model to generate fine-grained depth and normal maps for enriched guidance. Finally, a Cross-domain Controller incorporates multi-level guidance to animate human images effectively with a video diffusion model. Extensive experiments demonstrate that our method achieves state-of-the-art performance in animating human images.

We present an approach to modeling an image-space prior on scene dynamics. Our prior is learned from a collection of motion trajectories extracted from real video sequences containing natural, oscillating motion such as trees, flowers, candles, and clothes blowing in the wind. Given a single image, our trained model uses a frequency-coordinated diffusion sampling process to predict a per-pixel long-term motion representation in the Fourier domain, which we call a neural stochastic motion texture. This representation can be converted into dense motion trajectories that span an entire video. Along with an image-based rendering module, these trajectories can be used for a number of downstream applications, such as turning still images into seamlessly looping dynamic videos, or allowing users to realistically interact with objects in real pictures.

Neuromorphic sensors, specifically event cameras, revolutionize visual data acquisition by capturing pixel intensity changes with exceptional dynamic range, minimal latency, and energy efficiency, setting them apart from conventional frame-based cameras. The distinctive capabilities of event cameras have ignited significant interest in the domain of event-based action recognition, recognizing their vast potential for advancement. However, the development in this field is currently slowed by the lack of comprehensive, large-scale datasets, which are critical for developing robust recognition frameworks. To bridge this gap, we introduces DailyDVS-200, a meticulously curated benchmark dataset tailored for the event-based action recognition community. DailyDVS-200 is extensive, covering 200 action categories across real-world scenarios, recorded by 47 participants, and comprises more than 22,000 event sequences. This dataset is designed to reflect a broad spectrum of action types, scene complexities, and data acquisition diversity. Each sequence in the dataset is annotated with 14 attributes, ensuring a detailed characterization of the recorded actions. Moreover, DailyDVS-200 is structured to facilitate a wide range of research paths, offering a solid foundation for both validating existing approaches and inspiring novel methodologies. By setting a new benchmark in the field, we challenge the current limitations of neuromorphic data processing and invite a surge of new approaches in event-based action recognition techniques, which paves the way for future explorations in neuromorphic computing and beyond. The dataset and source code are available at https://github.com/QiWang233/DailyDVS-200.

In this paper we discuss several forms of spatiotemporal convolutions for video analysis and study their effects on action recognition. Our motivation stems from the observation that 2D CNNs applied to individual frames of the video have remained solid performers in action recognition. In this work we empirically demonstrate the accuracy advantages of 3D CNNs over 2D CNNs within the framework of residual learning. Furthermore, we show that factorizing the 3D convolutional filters into separate spatial and temporal components yields significantly advantages in accuracy. Our empirical study leads to the design of a new spatiotemporal convolutional block "R(2+1)D" which gives rise to CNNs that achieve results comparable or superior to the state-of-the-art on Sports-1M, Kinetics, UCF101 and HMDB51.

Animals are capable of extreme agility, yet understanding their complex dynamics, which have ecological, biomechanical and evolutionary implications, remains challenging. Being able to study this incredible agility will be critical for the development of next-generation autonomous legged robots. In particular, the cheetah (acinonyx jubatus) is supremely fast and maneuverable, yet quantifying its whole-body 3D kinematic data during locomotion in the wild remains a challenge, even with new deep learning-based methods. In this work we present an extensive dataset of free-running cheetahs in the wild, called AcinoSet, that contains 119,490 frames of multi-view synchronized high-speed video footage, camera calibration files and 7,588 human-annotated frames. We utilize markerless animal pose estimation to provide 2D keypoints. Then, we use three methods that serve as strong baselines for 3D pose estimation tool development: traditional sparse bundle adjustment, an Extended Kalman Filter, and a trajectory optimization-based method we call Full Trajectory Estimation. The resulting 3D trajectories, human-checked 3D ground truth, and an interactive tool to inspect the data is also provided. We believe this dataset will be useful for a diverse range of fields such as ecology, neuroscience, robotics, biomechanics as well as computer vision.

Estimating human and camera trajectories with accurate scale in the world coordinate system from a monocular video is a highly desirable yet challenging and ill-posed problem. In this study, we aim to recover expressive parametric human models (i.e., SMPL-X) and corresponding camera poses jointly, by leveraging the synergy between three critical players: the world, the human, and the camera. Our approach is founded on two key observations. Firstly, camera-frame SMPL-X estimation methods readily recover absolute human depth. Secondly, human motions inherently provide absolute spatial cues. By integrating these insights, we introduce a novel framework, referred to as WHAC, to facilitate world-grounded expressive human pose and shape estimation (EHPS) alongside camera pose estimation, without relying on traditional optimization techniques. Additionally, we present a new synthetic dataset, WHAC-A-Mole, which includes accurately annotated humans and cameras, and features diverse interactive human motions as well as realistic camera trajectories. Extensive experiments on both standard and newly established benchmarks highlight the superiority and efficacy of our framework. We will make the code and dataset publicly available.

We propose to investigate detecting and characterizing the 3D planar articulation of objects from ordinary videos. While seemingly easy for humans, this problem poses many challenges for computers. We propose to approach this problem by combining a top-down detection system that finds planes that can be articulated along with an optimization approach that solves for a 3D plane that can explain a sequence of observed articulations. We show that this system can be trained on a combination of videos and 3D scan datasets. When tested on a dataset of challenging Internet videos and the Charades dataset, our approach obtains strong performance. Project site: https://jasonqsy.github.io/Articulation3D

This paper describes recent developments in object specific pose and shape prediction from single images. The main contribution is a new approach to camera pose prediction by self-supervised learning of keypoints corresponding to locations on a category specific deformable shape. We designed a network to generate a proxy ground-truth heatmap from a set of keypoints distributed all over the category-specific mean shape, where each is represented by a unique color on a labeled texture. The proxy ground-truth heatmap is used to train a deep keypoint prediction network, which can be used in online inference. The proposed approach to camera pose prediction show significant improvements when compared with state-of-the-art methods. Our approach to camera pose prediction is used to infer 3D objects from 2D image frames of video sequences online. To train the reconstruction model, it receives only a silhouette mask from a single frame of a video sequence in every training step and a category-specific mean object shape. We conducted experiments using three different datasets representing the bird category: the CUB [51] image dataset, YouTubeVos and the Davis video datasets. The network is trained on the CUB dataset and tested on all three datasets. The online experiments are demonstrated on YouTubeVos and Davis [56] video sequences using a network trained on the CUB training set.

World models have emerged as promising neural simulators for autonomous driving, with the potential to supplement scarce real-world data and enable closed-loop evaluations. However, current research primarily evaluates these models based on visual realism or downstream task performance, with limited focus on fidelity to specific action instructions - a crucial property for generating targeted simulation scenes. Although some studies address action fidelity, their evaluations rely on closed-source mechanisms, limiting reproducibility. To address this gap, we develop an open-access evaluation framework, ACT-Bench, for quantifying action fidelity, along with a baseline world model, Terra. Our benchmarking framework includes a large-scale dataset pairing short context videos from nuScenes with corresponding future trajectory data, which provides conditional input for generating future video frames and enables evaluation of action fidelity for executed motions. Furthermore, Terra is trained on multiple large-scale trajectory-annotated datasets to enhance action fidelity. Leveraging this framework, we demonstrate that the state-of-the-art model does not fully adhere to given instructions, while Terra achieves improved action fidelity. All components of our benchmark framework will be made publicly available to support future research.

Predicting diverse human motions given a sequence of historical poses has received increasing attention. Despite rapid progress, existing work captures the multi-modal nature of human motions primarily through likelihood-based sampling, where the mode collapse has been widely observed. In this paper, we propose a simple yet effective approach that disentangles randomly sampled codes with a deterministic learnable component named anchors to promote sample precision and diversity. Anchors are further factorized into spatial anchors and temporal anchors, which provide attractively interpretable control over spatial-temporal disparity. In principle, our spatial-temporal anchor-based sampling (STARS) can be applied to different motion predictors. Here we propose an interaction-enhanced spatial-temporal graph convolutional network (IE-STGCN) that encodes prior knowledge of human motions (e.g., spatial locality), and incorporate the anchors into it. Extensive experiments demonstrate that our approach outperforms state of the art in both stochastic and deterministic prediction, suggesting it as a unified framework for modeling human motions. Our code and pretrained models are available at https://github.com/Sirui-Xu/STARS.

Every day, humans perform many closely related activities that involve subtle discriminative motions, such as putting on a shirt vs. putting on a jacket, or shaking hands vs. giving a high five. Activity recognition by ethical visual AI could provide insights into our patterns of daily life, however existing activity recognition datasets do not capture the massive diversity of these human activities around the world. To address this limitation, we introduce Collector, a free mobile app to record video while simultaneously annotating objects and activities of consented subjects. This new data collection platform was used to curate the Consented Activities of People (CAP) dataset, the first large-scale, fine-grained activity dataset of people worldwide. The CAP dataset contains 1.45M video clips of 512 fine grained activity labels of daily life, collected by 780 subjects in 33 countries. We provide activity classification and activity detection benchmarks for this dataset, and analyze baseline results to gain insight into how people around with world perform common activities. The dataset, benchmarks, evaluation tools, public leaderboards and mobile apps are available for use at visym.github.io/cap.

Without manually annotated identities, unsupervised multi-object trackers are inferior to learning reliable feature embeddings. It causes the similarity-based inter-frame association stage also be error-prone, where an uncertainty problem arises. The frame-by-frame accumulated uncertainty prevents trackers from learning the consistent feature embedding against time variation. To avoid this uncertainty problem, recent self-supervised techniques are adopted, whereas they failed to capture temporal relations. The interframe uncertainty still exists. In fact, this paper argues that though the uncertainty problem is inevitable, it is possible to leverage the uncertainty itself to improve the learned consistency in turn. Specifically, an uncertainty-based metric is developed to verify and rectify the risky associations. The resulting accurate pseudo-tracklets boost learning the feature consistency. And accurate tracklets can incorporate temporal information into spatial transformation. This paper proposes a tracklet-guided augmentation strategy to simulate tracklets' motion, which adopts a hierarchical uncertainty-based sampling mechanism for hard sample mining. The ultimate unsupervised MOT framework, namely U2MOT, is proven effective on MOT-Challenges and VisDrone-MOT benchmark. U2MOT achieves a SOTA performance among the published supervised and unsupervised trackers.

We address the problem of generating realistic 3D motions of humans interacting with objects in a scene. Our key idea is to create a neural interaction field attached to a specific object, which outputs the distance to the valid interaction manifold given a human pose as input. This interaction field guides the sampling of an object-conditioned human motion diffusion model, so as to encourage plausible contacts and affordance semantics. To support interactions with scarcely available data, we propose an automated synthetic data pipeline. For this, we seed a pre-trained motion model, which has priors for the basics of human movement, with interaction-specific anchor poses extracted from limited motion capture data. Using our guided diffusion model trained on generated synthetic data, we synthesize realistic motions for sitting and lifting with several objects, outperforming alternative approaches in terms of motion quality and successful action completion. We call our framework NIFTY: Neural Interaction Fields for Trajectory sYnthesis.

Synthesizing human motions in 3D environments, particularly those with complex activities such as locomotion, hand-reaching, and human-object interaction, presents substantial demands for user-defined waypoints and stage transitions. These requirements pose challenges for current models, leading to a notable gap in automating the animation of characters from simple human inputs. This paper addresses this challenge by introducing a comprehensive framework for synthesizing multi-stage scene-aware interaction motions directly from a single text instruction and goal location. Our approach employs an auto-regressive diffusion model to synthesize the next motion segment, along with an autonomous scheduler predicting the transition for each action stage. To ensure that the synthesized motions are seamlessly integrated within the environment, we propose a scene representation that considers the local perception both at the start and the goal location. We further enhance the coherence of the generated motion by integrating frame embeddings with language input. Additionally, to support model training, we present a comprehensive motion-captured dataset comprising 16 hours of motion sequences in 120 indoor scenes covering 40 types of motions, each annotated with precise language descriptions. Experimental results demonstrate the efficacy of our method in generating high-quality, multi-stage motions closely aligned with environmental and textual conditions.

Estimating the 3D structure of the human body from natural scenes is a fundamental aspect of visual perception. This task carries great importance for fields like AIGC and human-robot interaction. In practice, 3D human pose estimation in real-world settings is a critical initial step in solving this problem. However, the current datasets, often collected under controlled laboratory conditions using complex motion capture equipment and unvarying backgrounds, are insufficient. The absence of real-world datasets is stalling the progress of this crucial task. To facilitate the development of 3D pose estimation, we present FreeMan, the first large-scale, real-world multi-view dataset. FreeMan was captured by synchronizing 8 smartphones across diverse scenarios. It comprises 11M frames from 8000 sequences, viewed from different perspectives. These sequences cover 40 subjects across 10 different scenarios, each with varying lighting conditions. We have also established an automated, precise labeling pipeline that allows for large-scale processing efficiently. We provide comprehensive evaluation baselines for a range of tasks, underlining the significant challenges posed by FreeMan. Further evaluations of standard indoor/outdoor human sensing datasets reveal that FreeMan offers robust representation transferability in real and complex scenes. FreeMan is now publicly available at https://wangjiongw.github.io/freeman.

We present MotionDiffuser, a diffusion based representation for the joint distribution of future trajectories over multiple agents. Such representation has several key advantages: first, our model learns a highly multimodal distribution that captures diverse future outcomes. Second, the simple predictor design requires only a single L2 loss training objective, and does not depend on trajectory anchors. Third, our model is capable of learning the joint distribution for the motion of multiple agents in a permutation-invariant manner. Furthermore, we utilize a compressed trajectory representation via PCA, which improves model performance and allows for efficient computation of the exact sample log probability. Subsequently, we propose a general constrained sampling framework that enables controlled trajectory sampling based on differentiable cost functions. This strategy enables a host of applications such as enforcing rules and physical priors, or creating tailored simulation scenarios. MotionDiffuser can be combined with existing backbone architectures to achieve top motion forecasting results. We obtain state-of-the-art results for multi-agent motion prediction on the Waymo Open Motion Dataset.

In recent years, vision language models (VLMs) have made significant advancements in video understanding. However, a crucial capability - fine-grained motion comprehension - remains under-explored in current benchmarks. To address this gap, we propose MotionBench, a comprehensive evaluation benchmark designed to assess the fine-grained motion comprehension of video understanding models. MotionBench evaluates models' motion-level perception through six primary categories of motion-oriented question types and includes data collected from diverse sources, ensuring a broad representation of real-world video content. Experimental results reveal that existing VLMs perform poorly in understanding fine-grained motions. To enhance VLM's ability to perceive fine-grained motion within a limited sequence length of LLM, we conduct extensive experiments reviewing VLM architectures optimized for video feature compression and propose a novel and efficient Through-Encoder (TE) Fusion method. Experiments show that higher frame rate inputs and TE Fusion yield improvements in motion understanding, yet there is still substantial room for enhancement. Our benchmark aims to guide and motivate the development of more capable video understanding models, emphasizing the importance of fine-grained motion comprehension. Project page: https://motion-bench.github.io .

The accuracy of learning-based optical flow estimation models heavily relies on the realism of the training datasets. Current approaches for generating such datasets either employ synthetic data or generate images with limited realism. However, the domain gap of these data with real-world scenes constrains the generalization of the trained model to real-world applications. To address this issue, we investigate generating realistic optical flow datasets from real-world images. Firstly, to generate highly realistic new images, we construct a layered depth representation, known as multiplane images (MPI), from single-view images. This allows us to generate novel view images that are highly realistic. To generate optical flow maps that correspond accurately to the new image, we calculate the optical flows of each plane using the camera matrix and plane depths. We then project these layered optical flows into the output optical flow map with volume rendering. Secondly, to ensure the realism of motion, we present an independent object motion module that can separate the camera and dynamic object motion in MPI. This module addresses the deficiency in MPI-based single-view methods, where optical flow is generated only by camera motion and does not account for any object movement. We additionally devise a depth-aware inpainting module to merge new images with dynamic objects and address unnatural motion occlusions. We show the superior performance of our method through extensive experiments on real-world datasets. Moreover, our approach achieves state-of-the-art performance in both unsupervised and supervised training of learning-based models. The code will be made publicly available at: https://github.com/Sharpiless/MPI-Flow.

This paper presents a simple method for "do as I do" motion transfer: given a source video of a person dancing, we can transfer that performance to a novel (amateur) target after only a few minutes of the target subject performing standard moves. We approach this problem as video-to-video translation using pose as an intermediate representation. To transfer the motion, we extract poses from the source subject and apply the learned pose-to-appearance mapping to generate the target subject. We predict two consecutive frames for temporally coherent video results and introduce a separate pipeline for realistic face synthesis. Although our method is quite simple, it produces surprisingly compelling results (see video). This motivates us to also provide a forensics tool for reliable synthetic content detection, which is able to distinguish videos synthesized by our system from real data. In addition, we release a first-of-its-kind open-source dataset of videos that can be legally used for training and motion transfer.

Spatial reasoning tasks in multi-agent environments such as event prediction, agent type identification, or missing data imputation are important for multiple applications (e.g., autonomous surveillance over sensor networks and subtasks for reinforcement learning (RL)). StarCraft II game replays encode intelligent (and adversarial) multi-agent behavior and could provide a testbed for these tasks; however, extracting simple and standardized representations for prototyping these tasks is laborious and hinders reproducibility. In contrast, MNIST and CIFAR10, despite their extreme simplicity, have enabled rapid prototyping and reproducibility of ML methods. Following the simplicity of these datasets, we construct a benchmark spatial reasoning dataset based on StarCraft II replays that exhibit complex multi-agent behaviors, while still being as easy to use as MNIST and CIFAR10. Specifically, we carefully summarize a window of 255 consecutive game states to create 3.6 million summary images from 60,000 replays, including all relevant metadata such as game outcome and player races. We develop three formats of decreasing complexity: Hyperspectral images that include one channel for every unit type (similar to multispectral geospatial images), RGB images that mimic CIFAR10, and grayscale images that mimic MNIST. We show how this dataset can be used for prototyping spatial reasoning methods. All datasets, code for extraction, and code for dataset loading can be found at https://starcraftdata.davidinouye.com

Industry surveillance is widely applicable in sectors like retail, manufacturing, education, and smart cities, each presenting unique anomalies requiring specialized detection. However, adapting anomaly detection models to novel viewpoints within the same scenario poses challenges. Extending these models to entirely new scenarios necessitates retraining or fine-tuning, a process that can be time consuming. To address these challenges, we propose the Scenario-Adaptive Anomaly Detection (SA2D) method, leveraging the few-shot learning framework for faster adaptation of pre-trained models to new concepts. Despite this approach, a significant challenge emerges from the absence of a comprehensive dataset with diverse scenarios and camera views. In response, we introduce the Multi-Scenario Anomaly Detection (MSAD) dataset, encompassing 14 distinct scenarios captured from various camera views. This real-world dataset is the first high-resolution anomaly detection dataset, offering a solid foundation for training superior models. MSAD includes diverse normal motion patterns, incorporating challenging variations like different lighting and weather conditions. Through experimentation, we validate the efficacy of SA2D, particularly when trained on the MSAD dataset. Our results show that SA2D not only excels under novel viewpoints within the same scenario but also demonstrates competitive performance when faced with entirely new scenarios. This highlights our method's potential in addressing challenges in detecting anomalies across diverse and evolving surveillance scenarios.

RaceVLA presents an innovative approach for autonomous racing drone navigation by leveraging Visual-Language-Action (VLA) to emulate human-like behavior. This research explores the integration of advanced algorithms that enable drones to adapt their navigation strategies based on real-time environmental feedback, mimicking the decision-making processes of human pilots. The model, fine-tuned on a collected racing drone dataset, demonstrates strong generalization despite the complexity of drone racing environments. RaceVLA outperforms OpenVLA in motion (75.0 vs 60.0) and semantic generalization (45.5 vs 36.3), benefiting from the dynamic camera and simplified motion tasks. However, visual (79.6 vs 87.0) and physical (50.0 vs 76.7) generalization were slightly reduced due to the challenges of maneuvering in dynamic environments with varying object sizes. RaceVLA also outperforms RT-2 across all axes - visual (79.6 vs 52.0), motion (75.0 vs 55.0), physical (50.0 vs 26.7), and semantic (45.5 vs 38.8), demonstrating its robustness for real-time adjustments in complex environments. Experiments revealed an average velocity of 1.04 m/s, with a maximum speed of 2.02 m/s, and consistent maneuverability, demonstrating RaceVLA's ability to handle high-speed scenarios effectively. These findings highlight the potential of RaceVLA for high-performance navigation in competitive racing contexts. The RaceVLA codebase, pretrained weights, and dataset are available at this http URL: https://racevla.github.io/

Existing optical flow methods are erroneous in challenging scenes, such as fog, rain, and night because the basic optical flow assumptions such as brightness and gradient constancy are broken. To address this problem, we present an unsupervised learning approach that fuses gyroscope into optical flow learning. Specifically, we first convert gyroscope readings into motion fields named gyro field. Second, we design a self-guided fusion module to fuse the background motion extracted from the gyro field with the optical flow and guide the network to focus on motion details. To the best of our knowledge, this is the first deep learning-based framework that fuses gyroscope data and image content for optical flow learning. To validate our method, we propose a new dataset that covers regular and challenging scenes. Experiments show that our method outperforms the state-of-art methods in both regular and challenging scenes. Code and dataset are available at https://github.com/megvii-research/GyroFlow.

One significant factor we expect the video representation learning to capture, especially in contrast with the image representation learning, is the object motion. However, we found that in the current mainstream video datasets, some action categories are highly related with the scene where the action happens, making the model tend to degrade to a solution where only the scene information is encoded. For example, a trained model may predict a video as playing football simply because it sees the field, neglecting that the subject is dancing as a cheerleader on the field. This is against our original intention towards the video representation learning and may bring scene bias on different dataset that can not be ignored. In order to tackle this problem, we propose to decouple the scene and the motion (DSM) with two simple operations, so that the model attention towards the motion information is better paid. Specifically, we construct a positive clip and a negative clip for each video. Compared to the original video, the positive/negative is motion-untouched/broken but scene-broken/untouched by Spatial Local Disturbance and Temporal Local Disturbance. Our objective is to pull the positive closer while pushing the negative farther to the original clip in the latent space. In this way, the impact of the scene is weakened while the temporal sensitivity of the network is further enhanced. We conduct experiments on two tasks with various backbones and different pre-training datasets, and find that our method surpass the SOTA methods with a remarkable 8.1% and 8.8% improvement towards action recognition task on the UCF101 and HMDB51 datasets respectively using the same backbone.