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Understanding Activities of Daily Living (ADLs) is a crucial step for different applications including assistive robots, smart homes, and healthcare. However, to date, few benchmarks and methods have focused on complex ADLs, especially those involving multi-person interactions in home environments. In this paper, we propose a new dataset and benchmark, InteractADL, for understanding complex ADLs that involve interaction between humans (and objects). Furthermore, complex ADLs occurring in home environments comprise a challenging long-tailed distribution due to the rarity of multi-person interactions, and pose fine-grained visual recognition tasks due to the presence of semantically and visually similar classes. To address these issues, we propose a novel method for fine-grained few-shot video classification called Name Tuning that enables greater semantic separability by learning optimal class name vectors. We show that Name Tuning can be combined with existing prompt tuning strategies to learn the entire input text (rather than only learning the prompt or class names) and demonstrate improved performance for few-shot classification on InteractADL and 4 other fine-grained visual classification benchmarks. For transparency and reproducibility, we release our code at https://github.com/zanedurante/vlm_benchmark.

The application of computer vision to nuanced subjective use cases is growing. While crowdsourcing has served the vision community well for most objective tasks (such as labeling a "zebra"), it now falters on tasks where there is substantial subjectivity in the concept (such as identifying "gourmet tuna"). However, empowering any user to develop a classifier for their concept is technically difficult: users are neither machine learning experts, nor have the patience to label thousands of examples. In reaction, we introduce the problem of Agile Modeling: the process of turning any subjective visual concept into a computer vision model through a real-time user-in-the-loop interactions. We instantiate an Agile Modeling prototype for image classification and show through a user study (N=14) that users can create classifiers with minimal effort under 30 minutes. We compare this user driven process with the traditional crowdsourcing paradigm and find that the crowd's notion often differs from that of the user's, especially as the concepts become more subjective. Finally, we scale our experiments with simulations of users training classifiers for ImageNet21k categories to further demonstrate the efficacy.

Autonomous robotic systems operating in human environments must understand their surroundings to make accurate and safe decisions. In crowded human scenes with close-up human-robot interaction and robot navigation, a deep understanding requires reasoning about human motion and body dynamics over time with human body pose estimation and tracking. However, existing datasets either do not provide pose annotations or include scene types unrelated to robotic applications. Many datasets also lack the diversity of poses and occlusions found in crowded human scenes. To address this limitation we introduce JRDB-Pose, a large-scale dataset and benchmark for multi-person pose estimation and tracking using videos captured from a social navigation robot. The dataset contains challenge scenes with crowded indoor and outdoor locations and a diverse range of scales and occlusion types. JRDB-Pose provides human pose annotations with per-keypoint occlusion labels and track IDs consistent across the scene. A public evaluation server is made available for fair evaluation on a held-out test set. JRDB-Pose is available at https://jrdb.erc.monash.edu/ ., Comment: 13 pages, 11 figures

Human pose forecasting is a challenging problem involving complex human body motion and posture dynamics. In cases that there are multiple people in the environment, one's motion may also be influenced by the motion and dynamic movements of others. Although there are several previous works targeting the problem of multi-person dynamic pose forecasting, they often model the entire pose sequence as time series (ignoring the underlying relationship between joints) or only output the future pose sequence of one person at a time. In this paper, we present a new method, called Social Motion Transformer (SoMoFormer), for multi-person 3D pose forecasting. Our transformer architecture uniquely models human motion input as a joint sequence rather than a time sequence, allowing us to perform attention over joints while predicting an entire future motion sequence for each joint in parallel. We show that with this problem reformulation, SoMoFormer naturally extends to multi-person scenes by using the joints of all people in a scene as input queries. Using learned embeddings to denote the type of joint, person identity, and global position, our model learns the relationships between joints and between people, attending more strongly to joints from the same or nearby people. SoMoFormer outperforms state-of-the-art methods for long-term motion prediction on the SoMoF benchmark as well as the CMU-Mocap and MuPoTS-3D datasets. Code will be made available after publication., Comment: 10 pages, 6 figures. Submitted to WACV 2023. Our method was submitted to the SoMoF benchmark leaderboard dated March 2022. See https://somof.stanford.edu/result/217/

The image captioning task is increasingly prevalent in artificial intelligence applications for medicine. One important application is clinical report generation from chest radiographs. The clinical writing of unstructured reports is time consuming and error-prone. An automated system would improve standardization, error reduction, time consumption, and medical accessibility. In this paper we demonstrate the importance of domain specific pre-training and propose a modified transformer architecture for the medical image captioning task. To accomplish this, we train a series of modified transformers to generate clinical reports from chest radiograph image input. These modified transformers include: a meshed-memory augmented transformer architecture with visual extractor using ImageNet pre-trained weights, a meshed-memory augmented transformer architecture with visual extractor using CheXpert pre-trained weights, and a meshed-memory augmented transformer whose encoder is passed the concatenated embeddings using both ImageNet pre-trained weights and CheXpert pre-trained weights. We use BLEU(1-4), ROUGE-L, CIDEr, and the clinical CheXbert F1 scores to validate our models and demonstrate competitive scores with state of the art models. We provide evidence that ImageNet pre-training is ill-suited for the medical image captioning task, especially for less frequent conditions (eg: enlarged cardiomediastinum, lung lesion, pneumothorax). Furthermore, we demonstrate that the double feature model improves performance for specific medical conditions (edema, consolidation, pneumothorax, support devices) and overall CheXbert F1 score, and should be further developed in future work. Such a double feature model, including both ImageNet pre-training as well as domain specific pre-training, could be used in a wide range of image captioning models in medicine.