arXiv subjects

Peihao Wang

Publications and source records attributed to Peihao Wang.

54 records · Page 3Linked to original sources

arXiv2023

Learning to Estimate 6DoF Pose from Limited Data: A Few-Shot, Generalizable Approach using RGB Images

The accurate estimation of six degrees-of-freedom (6DoF) object poses is essential for many applications in robotics and augmented reality. However, existing methods for 6DoF pose estimation often depend on CAD templates or dense support views, restricting their usefulness in realworld situations. In this study, we present a new cascade framework named Cas6D for few-shot 6DoF pose estimation that is generalizable and uses only RGB images. To address the false positives of target object detection in the extreme few-shot setting, our framework utilizes a selfsupervised pre-trained ViT to learn robust feature representations. Then, we initialize the nearest top-K pose candidates based on similarity score and refine the initial poses using feature pyramids to formulate and update the cascade warped feature volume, which encodes context at increasingly finer scales. By discretizing the pose search range using multiple pose bins and progressively narrowing the pose search range in each stage using predictions from the previous stage, Cas6D can overcome the large gap between pose candidates and ground truth poses, which is a common failure mode in sparse-view scenarios. Experimental results on the LINEMOD and GenMOP datasets demonstrate that Cas6D outperforms state-of-the-art methods by 9.2% and 3.8% accuracy (Proj-5) under the 32-shot setting compared to OnePose++ and Gen6D.

cs.CV↗

arXiv2023

POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Reference

Despite the significant progress in six degrees-of-freedom (6DoF) object pose estimation, existing methods have limited applicability in real-world scenarios involving embodied agents and downstream 3D vision tasks. These limitations mainly come from the necessity of 3D models, closed-category detection, and a large number of densely annotated support views. To mitigate this issue, we propose a general paradigm for object pose estimation, called Promptable Object Pose Estimation (POPE). The proposed approach POPE enables zero-shot 6DoF object pose estimation for any target object in any scene, while only a single reference is adopted as the support view. To achieve this, POPE leverages the power of the pre-trained large-scale 2D foundation model, employs a framework with hierarchical feature representation and 3D geometry principles. Moreover, it estimates the relative camera pose between object prompts and the target object in new views, enabling both two-view and multi-view 6DoF pose estimation tasks. Comprehensive experimental results demonstrate that POPE exhibits unrivaled robust performance in zero-shot settings, by achieving a significant reduction in the averaged Median Pose Error by 52.38% and 50.47% on the LINEMOD and OnePose datasets, respectively. We also conduct more challenging testings in causally captured images (see Figure 1), which further demonstrates the robustness of POPE. Project page can be found with https://paulpanwang.github.io/POPE/.

cs.CV↗

arXiv2023

NeuralLift-360: Lifting An In-the-wild 2D Photo to A 3D Object with 360° Views

Virtual reality and augmented reality (XR) bring increasing demand for 3D content. However, creating high-quality 3D content requires tedious work that a human expert must do. In this work, we study the challenging task of lifting a single image to a 3D object and, for the first time, demonstrate the ability to generate a plausible 3D object with 360° views that correspond well with the given reference image. By conditioning on the reference image, our model can fulfill the everlasting curiosity for synthesizing novel views of objects from images. Our technique sheds light on a promising direction of easing the workflows for 3D artists and XR designers. We propose a novel framework, dubbed NeuralLift-360, that utilizes a depth-aware neural radiance representation (NeRF) and learns to craft the scene guided by denoising diffusion models. By introducing a ranking loss, our NeuralLift-360 can be guided with rough depth estimation in the wild. We also adopt a CLIP-guided sampling strategy for the diffusion prior to provide coherent guidance. Extensive experiments demonstrate that our NeuralLift-360 significantly outperforms existing state-of-the-art baselines. Project page: https://vita-group.github.io/NeuralLift-360/

cs.CV↗

arXiv2023

Is Attention All That NeRF Needs?

We present Generalizable NeRF Transformer (GNT), a transformer-based architecture that reconstructs Neural Radiance Fields (NeRFs) and learns to renders novel views on the fly from source views. While prior works on NeRFs optimize a scene representation by inverting a handcrafted rendering equation, GNT achieves neural representation and rendering that generalizes across scenes using transformers at two stages. (1) The view transformer leverages multi-view geometry as an inductive bias for attention-based scene representation, and predicts coordinate-aligned features by aggregating information from epipolar lines on the neighboring views. (2) The ray transformer renders novel views using attention to decode the features from the view transformer along the sampled points during ray marching. Our experiments demonstrate that when optimized on a single scene, GNT can successfully reconstruct NeRF without an explicit rendering formula due to the learned ray renderer. When trained on multiple scenes, GNT consistently achieves state-of-the-art performance when transferring to unseen scenes and outperform all other methods by ~10% on average. Our analysis of the learned attention maps to infer depth and occlusion indicate that attention enables learning a physically-grounded rendering. Our results show the promise of transformers as a universal modeling tool for graphics. Please refer to our project page for video results: https://vita-group.github.io/GNT/.

cs.CV↗

arXiv2023

Learning to Grow Pretrained Models for Efficient Transformer Training

Scaling transformers has led to significant breakthroughs in many domains, leading to a paradigm in which larger versions of existing models are trained and released on a periodic basis. New instances of such models are typically trained completely from scratch, despite the fact that they are often just scaled-up versions of their smaller counterparts. How can we use the implicit knowledge in the parameters of smaller, extant models to enable faster training of newer, larger models? This paper describes an approach for accelerating transformer training by learning to grow pretrained transformers, where we learn to linearly map the parameters of the smaller model to initialize the larger model. For tractable learning, we factorize the linear transformation as a composition of (linear) width- and depth-growth operators, and further employ a Kronecker factorization of these growth operators to encode architectural knowledge. Extensive experiments across both language and vision transformers demonstrate that our learned Linear Growth Operator (LiGO) can save up to 50% computational cost of training from scratch, while also consistently outperforming strong baselines that also reuse smaller pretrained models to initialize larger models.

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arXiv2023

A Comprehensive Study on Large-Scale Graph Training: Benchmarking and Rethinking

Large-scale graph training is a notoriously challenging problem for graph neural networks (GNNs). Due to the nature of evolving graph structures into the training process, vanilla GNNs usually fail to scale up, limited by the GPU memory space. Up to now, though numerous scalable GNN architectures have been proposed, we still lack a comprehensive survey and fair benchmark of this reservoir to find the rationale for designing scalable GNNs. To this end, we first systematically formulate the representative methods of large-scale graph training into several branches and further establish a fair and consistent benchmark for them by a greedy hyperparameter searching. In addition, regarding efficiency, we theoretically evaluate the time and space complexity of various branches and empirically compare them w.r.t GPU memory usage, throughput, and convergence. Furthermore, We analyze the pros and cons for various branches of scalable GNNs and then present a new ensembling training manner, named EnGCN, to address the existing issues. Our code is available at https://github.com/VITA-Group/Large_Scale_GCN_Benchmarking.

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arXiv2023

Equivariant Hypergraph Diffusion Neural Operators

Hypergraph neural networks (HNNs) using neural networks to encode hypergraphs provide a promising way to model higher-order relations in data and further solve relevant prediction tasks built upon such higher-order relations. However, higher-order relations in practice contain complex patterns and are often highly irregular. So, it is often challenging to design an HNN that suffices to express those relations while keeping computational efficiency. Inspired by hypergraph diffusion algorithms, this work proposes a new HNN architecture named ED-HNN, which provably represents any continuous equivariant hypergraph diffusion operators that can model a wide range of higher-order relations. ED-HNN can be implemented efficiently by combining star expansions of hypergraphs with standard message passing neural networks. ED-HNN further shows great superiority in processing heterophilic hypergraphs and constructing deep models. We evaluate ED-HNN for node classification on nine real-world hypergraph datasets. ED-HNN uniformly outperforms the best baselines over these nine datasets and achieves more than 2\%$\uparrow$ in prediction accuracy over four datasets therein.

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arXiv2022

Signal Processing for Implicit Neural Representations

Implicit Neural Representations (INRs) encoding continuous multi-media data via multi-layer perceptrons has shown undebatable promise in various computer vision tasks. Despite many successful applications, editing and processing an INR remains intractable as signals are represented by latent parameters of a neural network. Existing works manipulate such continuous representations via processing on their discretized instance, which breaks down the compactness and continuous nature of INR. In this work, we present a pilot study on the question: how to directly modify an INR without explicit decoding? We answer this question by proposing an implicit neural signal processing network, dubbed INSP-Net, via differential operators on INR. Our key insight is that spatial gradients of neural networks can be computed analytically and are invariant to translation, while mathematically we show that any continuous convolution filter can be uniformly approximated by a linear combination of high-order differential operators. With these two knobs, INSP-Net instantiates the signal processing operator as a weighted composition of computational graphs corresponding to the high-order derivatives of INRs, where the weighting parameters can be data-driven learned. Based on our proposed INSP-Net, we further build the first Convolutional Neural Network (CNN) that implicitly runs on INRs, named INSP-ConvNet. Our experiments validate the expressiveness of INSP-Net and INSP-ConvNet in fitting low-level image and geometry processing kernels (e.g. blurring, deblurring, denoising, inpainting, and smoothening) as well as for high-level tasks on implicit fields such as image classification.

cs.CV↗

arXiv2022

Old can be Gold: Better Gradient Flow can Make Vanilla-GCNs Great Again

Despite the enormous success of Graph Convolutional Networks (GCNs) in modeling graph-structured data, most of the current GCNs are shallow due to the notoriously challenging problems of over-smoothening and information squashing along with conventional difficulty caused by vanishing gradients and over-fitting. Previous works have been primarily focused on the study of over-smoothening and over-squashing phenomena in training deep GCNs. Surprisingly, in comparison with CNNs/RNNs, very limited attention has been given to understanding how healthy gradient flow can benefit the trainability of deep GCNs. In this paper, firstly, we provide a new perspective of gradient flow to understand the substandard performance of deep GCNs and hypothesize that by facilitating healthy gradient flow, we can significantly improve their trainability, as well as achieve state-of-the-art (SOTA) level performance from vanilla-GCNs. Next, we argue that blindly adopting the Glorot initialization for GCNs is not optimal, and derive a topology-aware isometric initialization scheme for vanilla-GCNs based on the principles of isometry. Additionally, contrary to ad-hoc addition of skip-connections, we propose to use gradient-guided dynamic rewiring of vanilla-GCNs} with skip connections. Our dynamic rewiring method uses the gradient flow within each layer during training to introduce on-demand skip-connections adaptively. We provide extensive empirical evidence across multiple datasets that our methods improve gradient flow in deep vanilla-GCNs and significantly boost their performance to comfortably compete and outperform many fancy state-of-the-art methods. Codes are available at: https://github.com/VITA-Group/GradientGCN.

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arXiv2022

NeRF-SOS: Any-View Self-supervised Object Segmentation on Complex Scenes

Neural volumetric representations have shown the potential that Multi-layer Perceptrons (MLPs) can be optimized with multi-view calibrated images to represent scene geometry and appearance, without explicit 3D supervision. Object segmentation can enrich many downstream applications based on the learned radiance field. However, introducing hand-crafted segmentation to define regions of interest in a complex real-world scene is non-trivial and expensive as it acquires per view annotation. This paper carries out the exploration of self-supervised learning for object segmentation using NeRF for complex real-world scenes. Our framework, called NeRF with Self-supervised Object Segmentation NeRF-SOS, couples object segmentation and neural radiance field to segment objects in any view within a scene. By proposing a novel collaborative contrastive loss in both appearance and geometry levels, NeRF-SOS encourages NeRF models to distill compact geometry-aware segmentation clusters from their density fields and the self-supervised pre-trained 2D visual features. The self-supervised object segmentation framework can be applied to various NeRF models that both lead to photo-realistic rendering results and convincing segmentation maps for both indoor and outdoor scenarios. Extensive results on the LLFF, Tank & Temple, and BlendedMVS datasets validate the effectiveness of NeRF-SOS. It consistently surpasses other 2D-based self-supervised baselines and predicts finer semantics masks than existing supervised counterparts. Please refer to the video on our project page for more details:https://zhiwenfan.github.io/NeRF-SOS.

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arXiv2022

Unified Implicit Neural Stylization

Representing visual signals by implicit representation (e.g., a coordinate based deep network) has prevailed among many vision tasks. This work explores a new intriguing direction: training a stylized implicit representation, using a generalized approach that can apply to various 2D and 3D scenarios. We conduct a pilot study on a variety of implicit functions, including 2D coordinate-based representation, neural radiance field, and signed distance function. Our solution is a Unified Implicit Neural Stylization framework, dubbed INS. In contrary to vanilla implicit representation, INS decouples the ordinary implicit function into a style implicit module and a content implicit module, in order to separately encode the representations from the style image and input scenes. An amalgamation module is then applied to aggregate these information and synthesize the stylized output. To regularize the geometry in 3D scenes, we propose a novel self-distillation geometry consistency loss which preserves the geometry fidelity of the stylized scenes. Comprehensive experiments are conducted on multiple task settings, including novel view synthesis of complex scenes, stylization for implicit surfaces, and fitting images using MLPs. We further demonstrate that the learned representation is continuous not only spatially but also style-wise, leading to effortlessly interpolating between different styles and generating images with new mixed styles. Please refer to the video on our project page for more view synthesis results: https://zhiwenfan.github.io/INS.

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arXiv2022

SinNeRF: Training Neural Radiance Fields on Complex Scenes from a Single Image

Despite the rapid development of Neural Radiance Field (NeRF), the necessity of dense covers largely prohibits its wider applications. While several recent works have attempted to address this issue, they either operate with sparse views (yet still, a few of them) or on simple objects/scenes. In this work, we consider a more ambitious task: training neural radiance field, over realistically complex visual scenes, by "looking only once", i.e., using only a single view. To attain this goal, we present a Single View NeRF (SinNeRF) framework consisting of thoughtfully designed semantic and geometry regularizations. Specifically, SinNeRF constructs a semi-supervised learning process, where we introduce and propagate geometry pseudo labels and semantic pseudo labels to guide the progressive training process. Extensive experiments are conducted on complex scene benchmarks, including NeRF synthetic dataset, Local Light Field Fusion dataset, and DTU dataset. We show that even without pre-training on multi-view datasets, SinNeRF can yield photo-realistic novel-view synthesis results. Under the single image setting, SinNeRF significantly outperforms the current state-of-the-art NeRF baselines in all cases. Project page: https://vita-group.github.io/SinNeRF/

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arXiv2022

Neural Implicit Dictionary via Mixture-of-Expert Training

Representing visual signals by coordinate-based deep fully-connected networks has been shown advantageous in fitting complex details and solving inverse problems than discrete grid-based representation. However, acquiring such a continuous Implicit Neural Representation (INR) requires tedious per-scene training on tons of signal measurements, which limits its practicality. In this paper, we present a generic INR framework that achieves both data and training efficiency by learning a Neural Implicit Dictionary (NID) from a data collection and representing INR as a functional combination of basis sampled from the dictionary. Our NID assembles a group of coordinate-based subnetworks which are tuned to span the desired function space. After training, one can instantly and robustly acquire an unseen scene representation by solving the coding coefficients. To parallelly optimize a large group of networks, we borrow the idea from Mixture-of-Expert (MoE) to design and train our network with a sparse gating mechanism. Our experiments show that, NID can improve reconstruction of 2D images or 3D scenes by 2 orders of magnitude faster with up to 98% less input data. We further demonstrate various applications of NID in image inpainting and occlusion removal, which are considered to be challenging with vanilla INR. Our codes are available in https://github.com/VITA-Group/Neural-Implicit-Dict.

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arXiv2022

Aug-NeRF: Training Stronger Neural Radiance Fields with Triple-Level Physically-Grounded Augmentations

Neural Radiance Field (NeRF) regresses a neural parameterized scene by differentially rendering multi-view images with ground-truth supervision. However, when interpolating novel views, NeRF often yields inconsistent and visually non-smooth geometric results, which we consider as a generalization gap between seen and unseen views. Recent advances in convolutional neural networks have demonstrated the promise of advanced robust data augmentations, either random or learned, in enhancing both in-distribution and out-of-distribution generalization. Inspired by that, we propose Augmented NeRF (Aug-NeRF), which for the first time brings the power of robust data augmentations into regularizing the NeRF training. Particularly, our proposal learns to seamlessly blend worst-case perturbations into three distinct levels of the NeRF pipeline with physical grounds, including (1) the input coordinates, to simulate imprecise camera parameters at image capture; (2) intermediate features, to smoothen the intrinsic feature manifold; and (3) pre-rendering output, to account for the potential degradation factors in the multi-view image supervision. Extensive results demonstrate that Aug-NeRF effectively boosts NeRF performance in both novel view synthesis (up to 1.5dB PSNR gain) and underlying geometry reconstruction. Furthermore, thanks to the implicit smooth prior injected by the triple-level augmentations, Aug-NeRF can even recover scenes from heavily corrupted images, a highly challenging setting untackled before. Our codes are available in https://github.com/VITA-Group/Aug-NeRF.

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arXiv2022

Bag of Tricks for Training Deeper Graph Neural Networks: A Comprehensive Benchmark Study

Training deep graph neural networks (GNNs) is notoriously hard. Besides the standard plights in training deep architectures such as vanishing gradients and overfitting, it also uniquely suffers from over-smoothing, information squashing, and so on, which limits their potential power for encoding the high-order neighbor structure in large-scale graphs. Although numerous efforts are proposed to address these limitations, such as various forms of skip connections, graph normalization, and random dropping, it is difficult to disentangle the advantages brought by a deep GNN architecture from those "tricks" necessary to train such an architecture. Moreover, the lack of a standardized benchmark with fair and consistent experimental settings poses an almost insurmountable obstacle to gauge the effectiveness of new mechanisms. In view of those, we present the first fair and reproducible benchmark dedicated to assessing the "tricks" of training deep GNNs. We categorize existing approaches, investigate their hyperparameter sensitivity, and unify the basic configuration. Comprehensive evaluations are then conducted on tens of representative graph datasets including the recent large-scale Open Graph Benchmark, with diverse deep GNN backbones. We demonstrate that an organic combo of initial connection, identity mapping, group and batch normalization attains the new state-of-the-art results for deep GNNs on large datasets. Codes are available: https://github.com/VITA-Group/Deep_GCN_Benchmarking.

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arXiv2022

Anti-Oversmoothing in Deep Vision Transformers via the Fourier Domain Analysis: From Theory to Practice

Vision Transformer (ViT) has recently demonstrated promise in computer vision problems. However, unlike Convolutional Neural Networks (CNN), it is known that the performance of ViT saturates quickly with depth increasing, due to the observed attention collapse or patch uniformity. Despite a couple of empirical solutions, a rigorous framework studying on this scalability issue remains elusive. In this paper, we first establish a rigorous theory framework to analyze ViT features from the Fourier spectrum domain. We show that the self-attention mechanism inherently amounts to a low-pass filter, which indicates when ViT scales up its depth, excessive low-pass filtering will cause feature maps to only preserve their Direct-Current (DC) component. We then propose two straightforward yet effective techniques to mitigate the undesirable low-pass limitation. The first technique, termed AttnScale, decomposes a self-attention block into low-pass and high-pass components, then rescales and combines these two filters to produce an all-pass self-attention matrix. The second technique, termed FeatScale, re-weights feature maps on separate frequency bands to amplify the high-frequency signals. Both techniques are efficient and hyperparameter-free, while effectively overcoming relevant ViT training artifacts such as attention collapse and patch uniformity. By seamlessly plugging in our techniques to multiple ViT variants, we demonstrate that they consistently help ViTs benefit from deeper architectures, bringing up to 1.1% performance gains "for free" (e.g., with little parameter overhead). We publicly release our codes and pre-trained models at https://github.com/VITA-Group/ViT-Anti-Oversmoothing.

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arXiv2021

Delayed Propagation Transformer: A Universal Computation Engine towards Practical Control in Cyber-Physical Systems

Multi-agent control is a central theme in the Cyber-Physical Systems (CPS). However, current control methods either receive non-Markovian states due to insufficient sensing and decentralized design, or suffer from poor convergence. This paper presents the Delayed Propagation Transformer (DePT), a new transformer-based model that specializes in the global modeling of CPS while taking into account the immutable constraints from the physical world. DePT induces a cone-shaped spatial-temporal attention prior, which injects the information propagation and aggregation principles and enables a global view. With physical constraint inductive bias baked into its design, our DePT is ready to plug and play for a broad class of multi-agent systems. The experimental results on one of the most challenging CPS -- network-scale traffic signal control system in the open world -- show that our model outperformed the state-of-the-art expert methods on synthetic and real-world datasets. Our codes are released at: https://github.com/VITA-Group/DePT.

cs.AI↗

arXiv2021

SoGCN: Second-Order Graph Convolutional Networks

Graph Convolutional Networks (GCN) with multi-hop aggregation is more expressive than one-hop GCN but suffers from higher model complexity. Finding the shortest aggregation range that achieves comparable expressiveness and minimizes this side effect remains an open question. We answer this question by showing that multi-layer second-order graph convolution (SoGC) is sufficient to attain the ability of expressing polynomial spectral filters with arbitrary coefficients. Compared to models with one-hop aggregation, multi-hop propagation, and jump connections, SoGC possesses filter representational completeness while being lightweight, efficient, and easy to implement. Thereby, we suggest that SoGC is a simple design capable of forming the basic building block of GCNs, playing the same role as $3 \times 3$ kernels in CNNs. We build our Second-Order Graph Convolutional Networks (SoGCN) with SoGC and design a synthetic dataset to verify its filter fitting capability to validate these points. For real-world tasks, we present the state-of-the-art performance of SoGCN on the benchmark of node classification, graph classification, and graph regression datasets.

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