Cubify Anything: Scaling Indoor 3D Object Detection

We consider indoor 3D object detection with respect to a single RGB(-D) frame acquired from a commodity handheld device. We seek to significantly advance the status quo with respect to both data and modeling. First, we establish that existing datasets have significant limitations to scale, accuracy, and diversity of objects. As a result, we introduce the Cubify-Anything 1M (CA-1M) dataset, which exhaustively labels over 400K 3D objects on over 1K highly accurate laser-scanned scenes with near-perfect registration to over 3.5K handheld, egocentric captures. Next, we establish Cubify Transformer (CuTR), a fully Transformer 3D object detection baseline which rather than operating in 3D on point or voxel-based representations, predicts 3D boxes directly from 2D features derived from RGB(-D) inputs. While this approach lacks any 3D inductive biases, we show that paired with CA-1M, CuTR outperforms point-based methods - accurately recalling over 62% of objects in 3D, and is significantly more capable at handling noise and uncertainty present in commodity LiDAR-derived depth maps while also providing promising RGB only performance without architecture changes. Furthermore, by pre-training on CA-1M, CuTR can outperform point-based methods on a more diverse variant of SUN RGB-D - supporting the notion that while inductive biases in 3D are useful at the smaller sizes of existing datasets, they fail to scale to the data-rich regime of CA-1M. Overall, this dataset and baseline model provide strong evidence that we are moving towards models which can effectively Cubify Anything.

MM1.5: Methods, Analysis & Insights from Multimodal LLM Fine-tuning

We present MM1.5, a new family of multimodal large language models (MLLMs) designed to enhance capabilities in text-rich image understanding, visual referring and grounding, and multi-image reasoning. Building upon the MM1 architecture, MM1.5 adopts a data-centric approach to model training, systematically exploring the impact of diverse data mixtures across the entire model training lifecycle. This includes high-quality OCR data and synthetic captions for continual pre-training, as well as an optimized visual instruction-tuning data mixture for supervised fine-tuning. Our models range from 1B to 30B parameters, encompassing both dense and mixture-of-experts (MoE) variants, and demonstrate that careful data curation and training strategies can yield strong performance even at small scales (1B and 3B). Additionally, we introduce two specialized variants: MM1.5-Video, designed for video understanding, and MM1.5-UI, tailored for mobile UI understanding. Through extensive empirical studies and ablations, we provide detailed insights into the training processes and decisions that inform our final designs, offering valuable guidance for future research in MLLM development.

SlowFast-LLaVA: A Strong Training-Free Baseline for Video Large Language Models

We propose SlowFast-LLaVA (or SF-LLaVA for short), a training-free video large language model (LLM) that can jointly capture the detailed spatial semantics and long-range temporal context without exceeding the token budget of commonly used LLMs. This is realized by using a two-stream SlowFast design of inputs for Video LLMs to aggregate features from sampled video frames in an effective way. Specifically, the Slow pathway extracts features at a low frame rate while keeping as many spatial details as possible (e.g., with 24x24 tokens), and the Fast pathway operates on a high frame rate but uses a larger spatial pooling stride (e.g., downsampling 6x) to focus on the motion cues. As a result, this design allows us to adequately capture both spatial and temporal features that are beneficial for understanding details along the video. Experimental results show that SF-LLaVA outperforms existing training-free methods on a wide range of video tasks. On some benchmarks, it achieves comparable or even better performance compared to state-of-the-art Video LLMs that are fine-tuned on video datasets.

Understanding Alignment in Multimodal LLMs: A Comprehensive Study

Preference alignment has become a crucial component in enhancing the performance of Large Language Models (LLMs), yet its impact in Multimodal Large Language Models (MLLMs) remains comparatively underexplored. Similar to language models, MLLMs for image understanding tasks encounter challenges like hallucination. In MLLMs, hallucination can occur not only by stating incorrect facts but also by producing responses that are inconsistent with the image content. A primary objective of alignment for MLLMs is to encourage these models to align responses more closely with image information. Recently, multiple works have introduced preference datasets for MLLMs and examined different alignment methods, including Direct Preference Optimization (DPO) and Proximal Policy Optimization (PPO). However, due to variations in datasets, base model types, and alignment methods, it remains unclear which specific elements contribute most significantly to the reported improvements in these works. In this paper, we independently analyze each aspect of preference alignment in MLLMs. We start by categorizing the alignment algorithms into two groups, offline (such as DPO), and online (such as online-DPO), and show that combining offline and online methods can improve the performance of the model in certain scenarios. We review a variety of published multimodal preference datasets and discuss how the details of their construction impact model performance. Based on these insights, we introduce a novel way of creating multimodal preference data called Bias-Driven Hallucination Sampling (BDHS) that needs neither additional annotation nor external models, and show that it can achieve competitive performance to previously published alignment work for multimodal models across a range of benchmarks.

4M-21: An Any-to-Any Vision Model for Tens of Tasks and Modalities

Current multimodal and multitask foundation models like 4M or UnifiedIO show promising results, but in practice their out-of-the-box abilities to accept diverse inputs and perform diverse tasks are limited by the (usually rather small) number of modalities and tasks they are trained on. In this paper, we expand upon the capabilities of them by training a single model on tens of highly diverse modalities and by performing co-training on large-scale multimodal datasets and text corpora. This includes training on several semantic and geometric modalities, feature maps from recent state of the art models like DINOv2 and ImageBind, pseudo labels of specialist models like SAM and 4DHumans, and a range of new modalities that allow for novel ways to interact with the model and steer the generation, for example image metadata or color palettes. A crucial step in this process is performing discrete tokenization on various modalities, whether they are image-like, neural network feature maps, vectors, structured data like instance segmentation or human poses, or data that can be represented as text. Through this, we expand on the out-of-the-box capabilities of multimodal models and specifically show the possibility of training one model to solve at least 3x more tasks/modalities than existing ones and doing so without a loss in performance. This enables more fine-grained and controllable multimodal generation capabilities and allows us to study the distillation of models trained on diverse data and objectives into a unified model. We successfully scale the training to a three billion parameter model using tens of modalities and different datasets. The resulting models and training code are open sourced at 4m.epfl.ch.

4M: Massively Multimodal Masked Modeling

Current machine learning models for vision are often highly specialized and limited to a single modality and task. In contrast, recent large language models exhibit a wide range of capabilities, hinting at a possibility for similarly versatile models in computer vision. In this paper, we take a step in this direction and propose a multimodal training scheme called 4M. It consists of training a single unified Transformer encoder-decoder using a masked modeling objective across a wide range of input/output modalities - including text, images, geometric, and semantic modalities, as well as neural network feature maps. 4M achieves scalability by unifying the representation space of all modalities through mapping them into discrete tokens and performing multimodal masked modeling on a small randomized subset of tokens. 4M leads to models that exhibit several key capabilities: (1) they can perform a diverse set of vision tasks out of the box, (2) they excel when fine-tuned for unseen downstream tasks or new input modalities, and (3) they can function as a generative model that can be conditioned on arbitrary modalities, enabling a wide variety of expressive multimodal editing capabilities with remarkable flexibility. Through experimental analyses, we demonstrate the potential of 4M for training versatile and scalable foundation models for vision tasks, setting the stage for further exploration in multimodal learning for vision and other domains.

GAUDI: A Neural Architect for Immersive 3D Scene Generation

We introduce GAUDI, a generative model capable of capturing the distribution of complex and realistic 3D scenes that can be rendered immersively from a moving camera. We tackle this challenging problem with a scalable yet powerful approach, where we first optimize a latent representation that disentangles radiance fields and camera poses. This latent representation is then used to learn a generative model that enables both unconditional and conditional generation of 3D scenes. Our model generalizes previous works that focus on single objects by removing the assumption that the camera pose distribution can be shared across samples. We show that GAUDI obtains state-of-the-art performance in the unconditional generative setting across multiple datasets and allows for conditional generation of 3D scenes given conditioning variables like sparse image observations or text that describes the scene.

ARKitScenes -- A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Data

Scene understanding is an active research area. Commercial depth sensors, such as Kinect, have enabled the release of several RGB-D datasets over the past few years which spawned novel methods in 3D scene understanding. More recently with the launch of the LiDAR sensor in Apple's iPads and iPhones, high quality RGB-D data is accessible to millions of people on a device they commonly use. This opens a whole new era in scene understanding for the Computer Vision community as well as app developers. The fundamental research in scene understanding together with the advances in machine learning can now impact people's everyday experiences. However, transforming these scene understanding methods to real-world experiences requires additional innovation and development. In this paper we introduce ARKitScenes. It is not only the first RGB-D dataset that is captured with a now widely available depth sensor, but to our best knowledge, it also is the largest indoor scene understanding data released. In addition to the raw and processed data from the mobile device, ARKitScenes includes high resolution depth maps captured using a stationary laser scanner, as well as manually labeled 3D oriented bounding boxes for a large taxonomy of furniture. We further analyze the usefulness of the data for two downstream tasks: 3D object detection and color-guided depth upsampling. We demonstrate that our dataset can help push the boundaries of existing state-of-the-art methods and it introduces new challenges that better represent real-world scenarios.

License Plate Detection and Recognition Using Deeply Learned Convolutional Neural Networks

This work details Sighthounds fully automated license plate detection and recognition system. The core technology of the system is built using a sequence of deep Convolutional Neural Networks (CNNs) interlaced with accurate and efficient algorithms. The CNNs are trained and fine-tuned so that they are robust under different conditions (e.g. variations in pose, lighting, occlusion, etc.) and can work across a variety of license plate templates (e.g. sizes, backgrounds, fonts, etc). For quantitative analysis, we show that our system outperforms the leading license plate detection and recognition technology i.e. ALPR on several benchmarks. Our system is available to developers through the Sighthound Cloud API at https://www.sighthound.com/products/cloud

DAGER: Deep Age, Gender and Emotion Recognition Using Convolutional Neural Network

This paper describes the details of Sighthound's fully automated age, gender and emotion recognition system. The backbone of our system consists of several deep convolutional neural networks that are not only computationally inexpensive, but also provide state-of-the-art results on several competitive benchmarks. To power our novel deep networks, we collected large labeled datasets through a semi-supervised pipeline to reduce the annotation effort/time. We tested our system on several public benchmarks and report outstanding results. Our age, gender and emotion recognition models are available to developers through the Sighthound Cloud API at https://www.sighthound.com/products/cloud