IMPACT: A Dataset for Multi-Granularity Human Procedural Action Understanding in Industrial Assembly

We introduce IMPACT, a synchronized five-view RGB-D dataset for deployment-oriented industrial procedural understanding, built around real assembly and disassembly of a commercial angle grinder with professional-grade tools. To our knowledge, IMPACT is the first real industrial assembly benchmark that jointly provides synchronized ego-exo RGB-D capture, decoupled bimanual annotation, compliance-aware state tracking, and explicit anomaly--recovery supervision within a single real industrial workflow. It comprises 112 trials from 13 participants totaling 39.5 hours, with multi-route execution governed by a partial-order prerequisite graph, a six-category anomaly taxonomy, and operator cognitive load measured via NASA-TLX. The annotation hierarchy links hand-specific atomic actions to coarse procedural steps, component assembly states, and per-hand compliance phases, with synchronized null spans across views to decouple perceptual limitations from algorithmic failure. Systematic baselines reveal fundamental limitations that remain invisible to single-task benchmarks, particularly under realistic deployment conditions that involve incomplete observations, flexible execution paths, and corrective behavior. The full dataset, annotations, and evaluation code are available at https://github.com/Kratos-Wen/IMPACT.

Comprehensive Description of Uncertainty in Measurement for Representation and Propagation with Scalable Precision

Probability theory has become the predominant framework for quantifying uncertainty across scientific and engineering disciplines, with a particular focus on measurement and control systems. However, the widespread reliance on simple Gaussian assumptions--particularly in control theory, manufacturing, and measurement systems--can result in incomplete representations and multistage lossy approximations of complex phenomena, including inaccurate propagation of uncertainty through multi stage processes. This work proposes a comprehensive yet computationally tractable framework for representing and propagating quantitative attributes arising in measurement systems using Probability Density Functions (PDFs). Recognizing the constraints imposed by finite memory in software systems, we advocate for the use of Gaussian Mixture Models (GMMs), a principled extension of the familiar Gaussian framework, as they are universal approximators of PDFs whose complexity can be tuned to trade off approximation accuracy against memory and computation. From both mathematical and computational perspectives, GMMs enable high performance and, in many cases, closed form solutions of essential operations in control and measurement. The paper presents practical applications within manufacturing and measurement contexts especially circular factory, demonstrating how the GMMs framework supports accurate representation and propagation of measurement uncertainty and offers improved accuracy--compared to the traditional Gaussian framework--while keeping the computations tractable.

Higher-Order Adversarial Patches for Real-Time Object Detectors

Higher-order adversarial attacks can directly be considered the result of a cat-and-mouse game -- an elaborate action involving constant pursuit, near captures, and repeated escapes. This idiom describes the enduring circular training of adversarial attack patterns and adversarial training the best. The following work investigates the impact of higher-order adversarial attacks on object detectors by successively training attack patterns and hardening object detectors with adversarial training. The YOLOv10 object detector is chosen as a representative, and adversarial patches are used in an evasion attack manner. Our results indicate that higher-order adversarial patches are not only affecting the object detector directly trained on but rather provide a stronger generalization capacity compared to lower-order adversarial patches. Moreover, the results highlight that solely adversarial training is not sufficient to harden an object detector efficiently against this kind of adversarial attack. Code: https://github.com/JensBayer/HigherOrder

A Cross Branch Fusion-Based Contrastive Learning Framework for Point Cloud Self-supervised Learning

Contrastive learning is an essential method in self-supervised learning. It primarily employs a multi-branch strategy to compare latent representations obtained from different branches and train the encoder. In the case of multi-modal input, diverse modalities of the same object are fed into distinct branches. When using single-modal data, the same input undergoes various augmentations before being fed into different branches. However, all existing contrastive learning frameworks have so far only performed contrastive operations on the learned features at the final loss end, with no information exchange between different branches prior to this stage. In this paper, for point cloud unsupervised learning without the use of extra training data, we propose a Contrastive Cross-branch Attention-based framework for Point cloud data (termed PoCCA), to learn rich 3D point cloud representations. By introducing sub-branches, PoCCA allows information exchange between different branches before the loss end. Experimental results demonstrate that in the case of using no extra training data, the representations learned with our self-supervised model achieve state-of-the-art performances when used for downstream tasks on point clouds.

6D Pose Estimation on Point Cloud Data through Prior Knowledge Integration: A Case Study in Autonomous Disassembly

The accurate estimation of 6D pose remains a challenging task within the computer vision domain, even when utilizing 3D point cloud data. Conversely, in the manufacturing domain, instances arise where leveraging prior knowledge can yield advancements in this endeavor. This study focuses on the disassembly of starter motors to augment the engineering of product life cycles. A pivotal objective in this context involves the identification and 6D pose estimation of bolts affixed to the motors, facilitating automated disassembly within the manufacturing workflow. Complicating matters, the presence of occlusions and the limitations of single-view data acquisition, notably when motors are placed in a clamping system, obscure certain portions and render some bolts imperceptible. Consequently, the development of a comprehensive pipeline capable of acquiring complete bolt information is imperative to avoid oversight in bolt detection. In this paper, employing the task of bolt detection within the scope of our project as a pertinent use case, we introduce a meticulously devised pipeline. This multi-stage pipeline effectively captures the 6D information with regard to all bolts on the motor, thereby showcasing the effective utilization of prior knowledge in handling this challenging task. The proposed methodology not only contributes to the field of 6D pose estimation but also underscores the viability of integrating domain-specific insights to tackle complex problems in manufacturing and automation.

SAMBLE: Shape-Specific Point Cloud Sampling for an Optimal Trade-Off Between Local Detail and Global Uniformity

Driven by the increasing demand for accurate and efficient representation of 3D data in various domains, point cloud sampling has emerged as a pivotal research topic in 3D computer vision. Recently, learning-to-sample methods have garnered growing interest from the community, particularly for their ability to be jointly trained with downstream tasks. However, previous learning-based sampling methods either lead to unrecognizable sampling patterns by generating a new point cloud or biased sampled results by focusing excessively on sharp edge details. Moreover, they all overlook the natural variations in point distribution across different shapes, applying a similar sampling strategy to all point clouds. In this paper, we propose a Sparse Attention Map and Bin-based Learning method (termed SAMBLE) to learn shape-specific sampling strategies for point cloud shapes. SAMBLE effectively achieves an improved balance between sampling edge points for local details and preserving uniformity in the global shape, resulting in superior performance across multiple common point cloud downstream tasks, even in scenarios with few-point sampling.

Decentralized Fusion of 3D Extended Object Tracking based on a B-Spline Shape Model

Extended Object Tracking (EOT) exploits the high resolution of modern sensors for detailed environmental perception. Combined with decentralized fusion, it contributes to a more scalable and robust perception system. This paper investigates the decentralized fusion of 3D EOT using a B-spline curve based model. The spline curve is used to represent the side-view profile, which is then extruded with a width to form a 3D shape. We use covariance intersection (CI) for the decentralized fusion and discuss the challenge of applying it to EOT. We further evaluate the tracking result of the decentralized fusion with simulated and real datasets of traffic scenarios. We show that the CI-based fusion can significantly improve the tracking performance for sensors with unfavorable perspective.

3D Extended Object Tracking based on Extruded B-Spline Side View Profiles

Object tracking is an essential task for autonomous systems. With the advancement of 3D sensors, these systems can better perceive their surroundings using effective 3D Extended Object Tracking (EOT) methods. Based on the observation that common road users are symmetrical on the right and left sides in the traveling direction, we focus on the side view profile of the object. In order to leverage of the development in 2D EOT and balance the number of parameters of a shape model in the tracking algorithms, we propose a method for 3D extended object tracking (EOT) by describing the side view profile of the object with B-spline curves and forming an extrusion to obtain a 3D extent. The use of B-spline curves exploits their flexible representation power by allowing the control points to move freely. The algorithm is developed into an Extended Kalman Filter (EKF). For a through evaluation of this method, we use simulated traffic scenario of different vehicle models and realworld open dataset containing both radar and lidar data.

Partially Observable Gaussian Process Network and Doubly Stochastic Variational Inference

To reduce the curse of dimensionality for Gaussian processes (GP), they can be decomposed into a Gaussian Process Network (GPN) of coupled subprocesses with lower dimensionality. In some cases, intermediate observations are available within the GPN. However, intermediate observations are often indirect, noisy, and incomplete in most real-world systems. This work introduces the Partially Observable Gaussian Process Network (POGPN) to model real-world process networks. We model a joint distribution of latent functions of subprocesses and make inferences using observations from all subprocesses. POGPN incorporates observation lenses (observation likelihoods) into the well-established inference method of deep Gaussian processes. We also introduce two training methods for POPGN to make inferences on the whole network using node observations. The application to benchmark problems demonstrates how incorporating partial observations during training and inference can improve the predictive performance of the overall network, offering a promising outlook for its practical application.

Traversing the Subspace of Adversarial Patches

Despite ongoing research on the topic of adversarial examples in deep learning for computer vision, some fundamentals of the nature of these attacks remain unclear. As the manifold hypothesis posits, high-dimensional data tends to be part of a low-dimensional manifold. To verify the thesis with adversarial patches, this paper provides an analysis of a set of adversarial patches and investigates the reconstruction abilities of three different dimensionality reduction methods. Quantitatively, the performance of reconstructed patches in an attack setting is measured and the impact of sampled patches from the latent space during adversarial training is investigated. The evaluation is performed on two publicly available datasets for person detection. The results indicate that more sophisticated dimensionality reduction methods offer no advantages over a simple principal component analysis.