DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarios

In the realm of object pose estimation, scenarios involving both dynamic objects and moving cameras are prevalent. However, the scarcity of corresponding real-world datasets significantly hinders the development and evaluation of robust pose estimation models. This is largely attributed to the inherent challenges in accurately annotating object poses in dynamic scenes captured by moving cameras. To bridge this gap, this paper presents a novel dataset DynOPETs and a dedicated data acquisition and annotation pipeline tailored for object pose estimation and tracking in such unconstrained environments. Our efficient annotation method innovatively integrates pose estimation and pose tracking techniques to generate pseudo-labels, which are subsequently refined through pose graph optimization. The resulting dataset offers accurate pose annotations for dynamic objects observed from moving cameras. To validate the effectiveness and value of our dataset, we perform comprehensive evaluations using 18 state-of-the-art methods, demonstrating its potential to accelerate research in this challenging domain. The dataset will be made publicly available to facilitate further exploration and advancement in the field.

Predicting the Road Ahead: A Knowledge Graph based Foundation Model for Scene Understanding in Autonomous Driving

The autonomous driving field has seen remarkable advancements in various topics, such as object recognition, trajectory prediction, and motion planning. However, current approaches face limitations in effectively comprehending the complex evolutions of driving scenes over time. This paper proposes FM4SU, a novel methodology for training a symbolic foundation model (FM) for scene understanding in autonomous driving. It leverages knowledge graphs (KGs) to capture sensory observation along with domain knowledge such as road topology, traffic rules, or complex interactions between traffic participants. A bird's eye view (BEV) symbolic representation is extracted from the KG for each driving scene, including the spatio-temporal information among the objects across the scenes. The BEV representation is serialized into a sequence of tokens and given to pre-trained language models (PLMs) for learning an inherent understanding of the co-occurrence among driving scene elements and generating predictions on the next scenes. We conducted a number of experiments using the nuScenes dataset and KG in various scenarios. The results demonstrate that fine-tuned models achieve significantly higher accuracy in all tasks. The fine-tuned T5 model achieved a next scene prediction accuracy of 86.7%. This paper concludes that FM4SU offers a promising foundation for developing more comprehensive models for scene understanding in autonomous driving.

What can Off-the-Shelves Large Multi-Modal Models do for Dynamic Scene Graph Generation?

Dynamic Scene Graph Generation (DSGG) for videos is a challenging task in computer vision. While existing approaches often focus on sophisticated architectural design and solely use recall during evaluation, we take a closer look at their predicted scene graphs and discover three critical issues with existing DSGG methods: severe precision-recall trade-off, lack of awareness on triplet importance, and inappropriate evaluation protocols. On the other hand, recent advances of Large Multimodal Models (LMMs) have shown great capabilities in video understanding, yet they have not been tested on fine-grained, frame-wise understanding tasks like DSGG. In this work, we conduct the first systematic analysis of Video LMMs for performing DSGG. Without relying on sophisticated architectural design, we show that LMMs with simple decoder-only structure can be turned into State-of-the-Art scene graph generators that effectively overcome the aforementioned issues, while requiring little finetuning (5-10% training data).

Neuro-Symbolic Scene Graph Conditioning for Synthetic Image Dataset Generation

As machine learning models increase in scale and complexity, obtaining sufficient training data has become a critical bottleneck due to acquisition costs, privacy constraints, and data scarcity in specialised domains. While synthetic data generation has emerged as a promising alternative, a notable performance gap remains compared to models trained on real data, particularly as task complexity grows. Concurrently, Neuro-Symbolic methods, which combine neural networks' learning strengths with symbolic reasoning's structured representations, have demonstrated significant potential across various cognitive tasks. This paper explores the utility of Neuro-Symbolic conditioning for synthetic image dataset generation, focusing specifically on improving the performance of Scene Graph Generation models. The research investigates whether structured symbolic representations in the form of scene graphs can enhance synthetic data quality through explicit encoding of relational constraints. The results demonstrate that Neuro-Symbolic conditioning yields significant improvements of up to +2.59% in standard Recall metrics and +2.83% in No Graph Constraint Recall metrics when used for dataset augmentation. These findings establish that merging Neuro-Symbolic and generative approaches produces synthetic data with complementary structural information that enhances model performance when combined with real data, providing a novel approach to overcome data scarcity limitations even for complex visual reasoning tasks.

Universal Scene Graph Generation

Scene graph (SG) representations can neatly and efficiently describe scene semantics, which has driven sustained intensive research in SG generation. In the real world, multiple modalities often coexist, with different types, such as images, text, video, and 3D data, expressing distinct characteristics. Unfortunately, current SG research is largely confined to single-modality scene modeling, preventing the full utilization of the complementary strengths of different modality SG representations in depicting holistic scene semantics. To this end, we introduce Universal SG (USG), a novel representation capable of fully characterizing comprehensive semantic scenes from any given combination of modality inputs, encompassing modality-invariant and modality-specific scenes. Further, we tailor a niche-targeting USG parser, USG-Par, which effectively addresses two key bottlenecks of cross-modal object alignment and out-of-domain challenges. We design the USG-Par with modular architecture for end-to-end USG generation, in which we devise an object associator to relieve the modality gap for cross-modal object alignment. Further, we propose a text-centric scene contrasting learning mechanism to mitigate domain imbalances by aligning multimodal objects and relations with textual SGs. Through extensive experiments, we demonstrate that USG offers a stronger capability for expressing scene semantics than standalone SGs, and also that our USG-Par achieves higher efficacy and performance.

Conformal Prediction and MLLM aided Uncertainty Quantification in Scene Graph Generation

Scene Graph Generation (SGG) aims to represent visual scenes by identifying objects and their pairwise relationships, providing a structured understanding of image content. However, inherent challenges like long-tailed class distributions and prediction variability necessitate uncertainty quantification in SGG for its practical viability. In this paper, we introduce a novel Conformal Prediction (CP) based framework, adaptive to any existing SGG method, for quantifying their predictive uncertainty by constructing well-calibrated prediction sets over their generated scene graphs. These scene graph prediction sets are designed to achieve statistically rigorous coverage guarantees. Additionally, to ensure these prediction sets contain the most practically interpretable scene graphs, we design an effective MLLM-based post-processing strategy for selecting the most visually and semantically plausible scene graphs within these prediction sets. We show that our proposed approach can produce diverse possible scene graphs from an image, assess the reliability of SGG methods, and improve overall SGG performance.

Learning 4D Panoptic Scene Graph Generation from Rich 2D Visual Scene

The latest emerged 4D Panoptic Scene Graph (4D-PSG) provides an advanced-ever representation for comprehensively modeling the dynamic 4D visual real world. Unfortunately, current pioneering 4D-PSG research can primarily suffer from data scarcity issues severely, as well as the resulting out-of-vocabulary problems; also, the pipeline nature of the benchmark generation method can lead to suboptimal performance. To address these challenges, this paper investigates a novel framework for 4D-PSG generation that leverages rich 2D visual scene annotations to enhance 4D scene learning. First, we introduce a 4D Large Language Model (4D-LLM) integrated with a 3D mask decoder for end-to-end generation of 4D-PSG. A chained SG inference mechanism is further designed to exploit LLMs' open-vocabulary capabilities to infer accurate and comprehensive object and relation labels iteratively. Most importantly, we propose a 2D-to-4D visual scene transfer learning framework, where a spatial-temporal scene transcending strategy effectively transfers dimension-invariant features from abundant 2D SG annotations to 4D scenes, effectively compensating for data scarcity in 4D-PSG. Extensive experiments on the benchmark data demonstrate that we strikingly outperform baseline models by a large margin, highlighting the effectiveness of our method.

A Unified Framework for Real-Time Failure Handling in Robotics Using Vision-Language Models, Reactive Planner and Behavior Trees

Robotic systems often face execution failures due to unexpected obstacles, sensor errors, or environmental changes. Traditional failure recovery methods rely on predefined strategies or human intervention, making them less adaptable. This paper presents a unified failure recovery framework that combines Vision-Language Models (VLMs), a reactive planner, and Behavior Trees (BTs) to enable real-time failure handling. Our approach includes pre-execution verification, which checks for potential failures before execution, and reactive failure handling, which detects and corrects failures during execution by verifying existing BT conditions, adding missing preconditions and, when necessary, generating new skills. The framework uses a scene graph for structured environmental perception and an execution history for continuous monitoring, enabling context-aware and adaptive failure handling. We evaluate our framework through real-world experiments with an ABB YuMi robot on tasks like peg insertion, object sorting, and drawer placement, as well as in AI2-THOR simulator. Compared to using pre-execution and reactive methods separately, our approach achieves higher task success rates and greater adaptability. Ablation studies highlight the importance of VLM-based reasoning, structured scene representation, and execution history tracking for effective failure recovery in robotics.

DIFFVSGG: Diffusion-Driven Online Video Scene Graph Generation

Top-leading solutions for Video Scene Graph Generation (VSGG) typically adopt an offline pipeline. Though demonstrating promising performance, they remain unable to handle real-time video streams and consume large GPU memory. Moreover, these approaches fall short in temporal reasoning, merely aggregating frame-level predictions over a temporal context. In response, we introduce DIFFVSGG, an online VSGG solution that frames this task as an iterative scene graph update problem. Drawing inspiration from Latent Diffusion Models (LDMs) which generate images via denoising a latent feature embedding, we unify the decoding of object classification, bounding box regression, and graph generation three tasks using one shared feature embedding. Then, given an embedding containing unified features of object pairs, we conduct a step-wise Denoising on it within LDMs, so as to deliver a clean embedding which clearly indicates the relationships between objects. This embedding then serves as the input to task-specific heads for object classification, scene graph generation, etc. DIFFVSGG further facilitates continuous temporal reasoning, where predictions for subsequent frames leverage results of past frames as the conditional inputs of LDMs, to guide the reverse diffusion process for current frames. Extensive experiments on three setups of Action Genome demonstrate the superiority of DIFFVSGG.

Gaussian Graph Network: Learning Efficient and Generalizable Gaussian Representations from Multi-view Images

3D Gaussian Splatting (3DGS) has demonstrated impressive novel view synthesis performance. While conventional methods require per-scene optimization, more recently several feed-forward methods have been proposed to generate pixel-aligned Gaussian representations with a learnable network, which are generalizable to different scenes. However, these methods simply combine pixel-aligned Gaussians from multiple views as scene representations, thereby leading to artifacts and extra memory cost without fully capturing the relations of Gaussians from different images. In this paper, we propose Gaussian Graph Network (GGN) to generate efficient and generalizable Gaussian representations. Specifically, we construct Gaussian Graphs to model the relations of Gaussian groups from different views. To support message passing at Gaussian level, we reformulate the basic graph operations over Gaussian representations, enabling each Gaussian to benefit from its connected Gaussian groups with Gaussian feature fusion. Furthermore, we design a Gaussian pooling layer to aggregate various Gaussian groups for efficient representations. We conduct experiments on the large-scale RealEstate10K and ACID datasets to demonstrate the efficiency and generalization of our method. Compared to the state-of-the-art methods, our model uses fewer Gaussians and achieves better image quality with higher rendering speed.