In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the category level and eliminating the need for CAD models during inference. While existing self-supervised methods have made strides in this field, they often suffer from inefficiencies arising from non-end-to-end processing, reliance on separate models for different object categories, and slow surface extraction during the training of implicit reconstruction models; thus hindering both the speed and real-world applicability of the 3D recognition process. Our proposed method leverages a multi-stage training pipeline, designed to efficiently transfer synthetic performance to the real-world domain. This approach is achieved through a combination of 2D and 3D supervised losses during the synthetic domain training, followed by the incorporation of 2D supervised and 3D self-supervised losses on real-world data in two additional learning stages. By adopting this comprehensive strategy, our method successfully overcomes the aforementioned limitations and outperforms existing self-supervised 6D pose and size estimation baselines on the NOCS test-set with a 16.4% absolute improvement in mAP for 6D pose estimation while running in near real-time at 5 Hz. Project page: fsd6d.github.io

A great number of situational comedies (sitcoms) are being regularly made and the task of adding laughter tracks to these is a critical task. Providing an ability to be able to predict whether something will be humorous to the audience is also crucial. In this project, we aim to automate this task. Towards doing so, we annotate an existing sitcom (`Big Bang Theory') and use the laughter cues present to obtain a manual annotation for this show. We provide detailed analysis for the dataset design and further evaluate various state of the art baselines for solving this task. We observe that existing LSTM and BERT based networks on the text alone do not perform as well as joint text and video or only video-based networks. Moreover, it is challenging to ascertain that the words attended to while predicting laughter are indeed humorous. Our dataset and analysis provided through this paper is a valuable resource towards solving this interesting semantic and practical task. As an additional contribution, we have developed a novel model for solving this task that is a multi-modal self-attention based model that outperforms currently prevalent models for solving this task. The project page for our paper is https://delta-lab-iitk.github.io/Multimodal-Humor-Dataset/.

Understanding and explaining deep learning models is an imperative task. Towards this, we propose a method that obtains gradient-based certainty estimates that also provide visual attention maps. Particularly, we solve for visual question answering task. We incorporate modern probabilistic deep learning methods that we further improve by using the gradients for these estimates. These have two-fold benefits: a) improvement in obtaining the certainty estimates that correlate better with misclassified samples and b) improved attention maps that provide state-of-the-art results in terms of correlation with human attention regions. The improved attention maps result in consistent improvement for various methods for visual question answering. Therefore, the proposed technique can be thought of as a tool for obtaining improved certainty estimates and explanations for deep learning models. We provide detailed empirical analysis for the visual question answering task on all standard benchmarks and comparison with state of the art methods.

Understanding and explaining deep learning models is an imperative task. Towards this, we propose a method that obtains gradient-based certainty estimates that also provide visual attention maps. Particularly, we solve for visual question answering task. We incorporate modern probabilistic deep learning methods that we further improve by using the gradients for these estimates. These have two-fold benefits: a) improvement in obtaining the certainty estimates that correlate better with misclassified samples and b) improved attention maps that provide state-of-the-art results in terms of correlation with human attention regions. The improved attention maps result in consistent improvement for various methods for visual question answering. Therefore, the proposed technique can be thought of as a recipe for obtaining improved certainty estimates and explanation for deep learning models. We provide detailed empirical analysis for the visual question answering task on all standard benchmarks and comparison with state of the art methods.