Inverse kinematic (IK) methods recover the parameters of the joints, given the desired position of selected elements in the kinematic chain. While the problem is well-defined and low-dimensional, it has to be solved rapidly, accounting for multiple possible solutions. In this work, we propose a neural IK method that employs the hierarchical structure of the problem to sequentially sample valid joint angles conditioned on the desired position and on the preceding joints along the chain. In our solution, a hypernetwork $f$ recovers the parameters of multiple primary networks {$g_1,g_2,…,g_N$, where $N$ is the number of joints}, such that each $g_i$ outputs a distribution of possible joint angles, and is conditioned on the sampled values obtained from the previous primary networks $g_j, j Cite this Paper BibTeX @InProceedings{pmlr-v162-bensadoun22a, title = {Neural Inverse Kinematic}, author = {Bensadoun, Raphael and Gur, Shir and Blau, Nitsan and Wolf, Lior}, booktitle = {Proceedings of the 39th International Conference on Machine Learning}, pages = {1787--1797}, year = {2022}, editor = {Chaudhuri, Kamalika and Jegelka, Stefanie and Song, Le and Szepesvari, Csaba and Niu, Gang and Sabato, Sivan}, volume = {162}, series = {Proceedings of Machine Learning Research}, month = {17--23 Jul}, publisher = {PMLR}, pdf = {https://proceedings.mlr.press/v162/bensadoun22a/bensadoun22a.pdf}, url = {https://proceedings.mlr.press/v162/bensadoun22a.html}, abstract = {Inverse kinematic (IK) methods recover the parameters of the joints, given the desired position of selected elements in the kinematic chain. While the problem is well-defined and low-dimensional, it has to be solved rapidly, accounting for multiple possible solutions. In this work, we propose a neural IK method that employs the hierarchical structure of the problem to sequentially sample valid joint angles conditioned on the desired position and on the preceding joints along the chain. In our solution, a hypernetwork $f$ recovers the parameters of multiple primary networks {$g_1,g_2,…,g_N$, where $N$ is the number of joints}, such that each $g_i$ outputs a distribution of possible joint angles, and is conditioned on the sampled values obtained from the previous primary networks $g_j, j Copy to Clipboard Download Endnote %0 Conference Paper %T Neural Inverse Kinematic %A Raphael Bensadoun %A Shir Gur %A Nitsan Blau %A Lior Wolf %B Proceedings of the 39th International Conference on Machine Learning %C Proceedings of Machine Learning Research %D 2022 %E Kamalika Chaudhuri %E Stefanie Jegelka %E Le Song %E Csaba Szepesvari %E Gang Niu %E Sivan Sabato %F pmlr-v162-bensadoun22a %I PMLR %P 1787--1797 %U https://proceedings.mlr.press/v162/bensadoun22a.html %V 162 %X Inverse kinematic (IK) methods recover the parameters of the joints, given the desired position of selected elements in the kinematic chain. While the problem is well-defined and low-dimensional, it has to be solved rapidly, accounting for multiple possible solutions. In this work, we propose a neural IK method that employs the hierarchical structure of the problem to sequentially sample valid joint angles conditioned on the desired position and on the preceding joints along the chain. In our solution, a hypernetwork $f$ recovers the parameters of multiple primary networks {$g_1,g_2,…,g_N$, where $N$ is the number of joints}, such that each $g_i$ outputs a distribution of possible joint angles, and is conditioned on the sampled values obtained from the previous primary networks $g_j, j Copy to Clipboard Download APA Bensadoun, R., Gur, S., Blau, N. & Wolf, L.. (2022). Neural Inverse Kinematic. Proceedings of the 39th International Conference on Machine Learning, in Proceedings of Machine Learning Research 162:1787-1797 Available from https://proceedings.mlr.press/v162/bensadoun22a.html. Copy to Clipboard Download Related Material Download PDF This site last compiled Sun, 05 Jul 2026 14:54:17 +0000 Github Account Copyright © The authors and PMLR 2026. MLResearchPress

Neural network visualization techniques mark image locations by their relevancy to the network's classification. Existing methods are effective in highlighting the regions that affect the resulting classification the most. However, as we show, these methods are limited in their ability to identify the support for alternative classifications, an effect we name the saliency bias hypothesis. In this work, we integrate two lines of research: gradient-based methods and attribution-based methods, and develop an algorithm that provides per-class explainability. The algorithm back-projects the per pixel local influence, in a manner that is guided by the local attributions, while correcting for salient features that would otherwise bias the explanation. In an extensive battery of experiments, we demonstrate the ability of our methods to class-specific visualization, and not just the predicted label. Remarkably, the method obtains state of the art results in benchmarks that are commonly applied to gradient-based methods as well as in those that are employed mostly for evaluating attribution methods. Using a new unsupervised procedure, our method is also successful in demonstrating that self-supervised methods learn semantic information. Our code is available at: https://github.com/shirgur/AGFVisualization.

Self-attention techniques, and specifically Transformers, are dominating the field of text processing and are becoming increasingly popular in computer vision classification tasks. In order to visualize the parts of the image that led to a certain classification, existing methods either rely on the obtained attention maps or employ heuristic propagation along the attention graph. In this work, we propose a novel way to compute relevancy for Transformer networks. The method assigns local relevance based on the Deep Taylor Decomposition principle and then propagates these relevancy scores through the layers. This propagation involves attention layers and skip connections, which challenge existing methods. Our solution is based on a specific formulation that is shown to maintain the total relevancy across layers. We benchmark our method on very recent visual Transformer networks, as well as on a text classification problem, and demonstrate a clear advantage over the existing explainability methods. Our code is available at: https://github.com/hila-chefer/Transformer-Explainability.

Transformers are increasingly dominating multi-modal reasoning tasks, such as visual question answering, achieving state-of-the-art results thanks to their ability to contextualize information using the self-attention and co-attention mechanisms. These attention modules also play a role in other computer vision tasks including object detection and image segmentation. Unlike Transformers that only use self-attention, Transformers with co-attention require to consider multiple attention maps in parallel in order to highlight the information that is relevant to the prediction in the model’s input. In this work, we propose the first method to explain prediction by any Transformer-based architecture, including bi-modal Transformers and Transformers with co-attentions. We provide generic solutions and apply these to the three most commonly used of these architectures: (i) pure self-attention, (ii) self-attention combined with co-attention, and (iii) encoder-decoder attention. We show that our method is superior to all existing methods which are adapted from single modality explainability. Our code is available at: https://github.com/hila-chefer/Transformer-MM-Explainability.

Internal learning for single-image generation is a framework, where a generator is trained to produce novel images based on a single image. Since these models are trained on a single image, they are limited in their scale and application. To overcome these issues, we propose a meta-learning approach that enables training over a collection of images, in order to model the internal statistics of the sample image more effectively.In the presented meta-learning approach, a single-image GAN model is generated given an input image, via a convolutional feedforward hypernetwork $f$. This network is trained over a dataset of images, allowing for feature sharing among different models, and for interpolation in the space of generative models. The generated single-image model contains a hierarchy of multiple generators and discriminators. It is therefore required to train the meta-learner in an adversarial manner, which requires careful design choices that we justify by a theoretical analysis. Our results show that the models obtained are as suitable as single-image GANs for many common image applications, {significantly reduce the training time per image without loss in performance}, and introduce novel capabilities, such as interpolation and feedforward modeling of novel images.

As Deep Neural Networks (DNNs) have demonstrated superhuman performance in a variety of fields, there is an increasing interest in understanding the complex internal mechanisms of DNNs. In this paper, we propose Relative Attributing Propagation (RAP), which decomposes the output predictions of DNNs with a new perspective of separating the relevant (positive) and irrelevant (negative) attributions according to the relative influence between the layers. The relevance of each neuron is identified with respect to its degree of contribution, separated into positive and negative, while preserving the conservation rule. Considering the relevance assigned to neurons in terms of relative priority, RAP allows each neuron to be assigned with a bi-polar importance score concerning the output: from highly relevant to highly irrelevant. Therefore, our method makes it possible to interpret DNNs with much clearer and attentive visualizations of the separated attributions than the conventional explaining methods. To verify that the attributions propagated by RAP correctly account for each meaning, we utilize the evaluation metrics: (i) Outside-inside relevance ratio, (ii) Segmentation mIOU and (iii) Region perturbation. In all experiments and metrics, we present a sizable gap in comparison to the existing literature.

We consider the task of generating diverse and novel videos from a single video sample. Recently, new hierarchical patch-GAN based approaches were proposed for generating diverse images, given only a single sample at training time. Moving to videos, these approaches fail to generate diverse samples, and often collapse into generating samples similar to the training video. We introduce a novel patch-based variational autoencoder (VAE) which allows for a much greater diversity in generation. Using this tool, a new hierarchical video generation scheme is constructed: at coarse scales, our patch-VAE is employed, ensuring samples are of high diversity. Subsequently, at finer scales, a patch-GAN renders the fine details, resulting in high quality videos. Our experiments show that the proposed method produces diverse samples in both the image domain, and the more challenging video domain. Our code and supplementary material (SM) with additional samples are available at https://shirgur.github.io/hp-vae-gan

Estimating depth from a single RGB images is a fundamental task in computer vision, which is most directly solved using supervised deep learning. In the field of unsupervised learning of depth from a single RGB image, depth is not given explicitly. Existing work in the field receives either a stereo pair, a monocular video, or multiple views, and, using losses that are based on structure-from-motion, trains a depth estimation network. In this work, we rely, instead of different views, on depth from focus cues. Learning is based on a novel Point Spread Function convolutional layer, which applies location specific kernels that arise from the Circle-Of-Confusion in each image location. We evaluate our method on data derived from five common datasets for depth estimation and lightfield images, and present results that are on par with supervised methods on KITTI and Make3D datasets and outperform unsupervised learning approaches. Since the phenomenon of depth from defocus is not dataset specific, we hypothesize that learning based on it would overfit less to the specific content in each dataset. Our experiments show that this is indeed the case, and an estimator learned on one dataset using our method provides better results on other datasets, than the directly supervised methods.

The task of blood vessel segmentation in microscopy images is crucial for many diagnostic and research applications. However, vessels can look vastly different, depending on the transient imaging conditions, and collecting data for supervised training is laborious. We present a novel deep learning method for unsupervised segmentation of blood vessels. The method is inspired by the field of active contours and we introduce a new loss term, which is based on the morphological Active Contours Without Edges (ACWE) optimization method. The role of the morphological operators is played by novel pooling layers that are incorporated to the network's architecture. We demonstrate the challenges that are faced by previous supervised learning solutions, when the imaging conditions shift. Our unsupervised method is able to outperform such previous methods in both the labeled dataset, and when applied to similar but different datasets. Our code, as well as efficient pytorch reimplementations of the baseline methods VesselNN and DeepVess are attached as supplementary.