arXiv subjects

Muhammad Haris Khan

Publications and source records attributed to Muhammad Haris Khan.

At least 91 records · Page 5Linked to original sources

arXiv2025

OSLoPrompt: Bridging Low-Supervision Challenges and Open-Set Domain Generalization in CLIP

We introduce Low-Shot Open-Set Domain Generalization (LSOSDG), a novel paradigm unifying low-shot learning with open-set domain generalization (ODG). While prompt-based methods using models like CLIP have advanced DG, they falter in low-data regimes (e.g., 1-shot) and lack precision in detecting open-set samples with fine-grained semantics related to training classes. To address these challenges, we propose OSLOPROMPT, an advanced prompt-learning framework for CLIP with two core innovations. First, to manage limited supervision across source domains and improve DG, we introduce a domain-agnostic prompt-learning mechanism that integrates adaptable domain-specific cues and visually guided semantic attributes through a novel cross-attention module, besides being supported by learnable domain- and class-generic visual prompts to enhance cross-modal adaptability. Second, to improve outlier rejection during inference, we classify unfamiliar samples as "unknown" and train specialized prompts with systematically synthesized pseudo-open samples that maintain fine-grained relationships to known classes, generated through a targeted query strategy with off-the-shelf foundation models. This strategy enhances feature learning, enabling our model to detect open samples with varied granularity more effectively. Extensive evaluations across five benchmarks demonstrate that OSLOPROMPT establishes a new state-of-the-art in LSOSDG, significantly outperforming existing methods.

cs.CV↗

arXiv2025

O-TPT: Orthogonality Constraints for Calibrating Test-time Prompt Tuning in Vision-Language Models

Test-time prompt tuning for vision-language models (VLMs) is getting attention because of their ability to learn with unlabeled data without fine-tuning. Although test-time prompt tuning methods for VLMs can boost accuracy, the resulting models tend to demonstrate poor calibration, which casts doubts on the reliability and trustworthiness of these models. Notably, more attention needs to be devoted to calibrating the test-time prompt tuning in vision-language models. To this end, we propose a new approach, called O-TPT that introduces orthogonality constraints on the textual features corresponding to the learnable prompts for calibrating test-time prompt tuning in VLMs. Towards introducing orthogonality constraints, we make the following contributions. First, we uncover new insights behind the suboptimal calibration performance of existing methods relying on textual feature dispersion. Second, we show that imposing a simple orthogonalization of textual features is a more effective approach towards obtaining textual dispersion. We conduct extensive experiments on various datasets with different backbones and baselines. The results indicate that our method consistently outperforms the prior state of the art in significantly reducing the overall average calibration error. Also, our method surpasses the zero-shot calibration performance on fine-grained classification tasks.

cs.CV↗

arXiv2025

RaceVLA: VLA-based Racing Drone Navigation with Human-like Behaviour

RaceVLA presents an innovative approach for autonomous racing drone navigation by leveraging Visual-Language-Action (VLA) to emulate human-like behavior. This research explores the integration of advanced algorithms that enable drones to adapt their navigation strategies based on real-time environmental feedback, mimicking the decision-making processes of human pilots. The model, fine-tuned on a collected racing drone dataset, demonstrates strong generalization despite the complexity of drone racing environments. RaceVLA outperforms OpenVLA in motion (75.0 vs 60.0) and semantic generalization (45.5 vs 36.3), benefiting from the dynamic camera and simplified motion tasks. However, visual (79.6 vs 87.0) and physical (50.0 vs 76.7) generalization were slightly reduced due to the challenges of maneuvering in dynamic environments with varying object sizes. RaceVLA also outperforms RT-2 across all axes - visual (79.6 vs 52.0), motion (75.0 vs 55.0), physical (50.0 vs 26.7), and semantic (45.5 vs 38.8), demonstrating its robustness for real-time adjustments in complex environments. Experiments revealed an average velocity of 1.04 m/s, with a maximum speed of 2.02 m/s, and consistent maneuverability, demonstrating RaceVLA's ability to handle high-speed scenarios effectively. These findings highlight the potential of RaceVLA for high-performance navigation in competitive racing contexts. The RaceVLA codebase, pretrained weights, and dataset are available at this http URL: https://racevla.github.io/

cs.RO↗

arXiv2025

CognitiveDrone: A VLA Model and Evaluation Benchmark for Real-Time Cognitive Task Solving and Reasoning in UAVs

This paper introduces CognitiveDrone, a novel Vision-Language-Action (VLA) model tailored for complex Unmanned Aerial Vehicles (UAVs) tasks that demand advanced cognitive abilities. Trained on a dataset comprising over 8,000 simulated flight trajectories across three key categories-Human Recognition, Symbol Understanding, and Reasoning-the model generates real-time 4D action commands based on first-person visual inputs and textual instructions. To further enhance performance in intricate scenarios, we propose CognitiveDrone-R1, which integrates an additional Vision-Language Model (VLM) reasoning module to simplify task directives prior to high-frequency control. Experimental evaluations using our open-source benchmark, CognitiveDroneBench, reveal that while a racing-oriented model (RaceVLA) achieves an overall success rate of 31.3%, the base CognitiveDrone model reaches 59.6%, and CognitiveDrone-R1 attains a success rate of 77.2%. These results demonstrate improvements of up to 30% in critical cognitive tasks, underscoring the effectiveness of incorporating advanced reasoning capabilities into UAV control systems. Our contributions include the development of a state-of-the-art VLA model for UAV control and the introduction of the first dedicated benchmark for assessing cognitive tasks in drone operations. The complete repository is available at cognitivedrone.github.io

cs.RO↗

arXiv2025

A Spatiotemporal Approach to Tri-Perspective Representation for 3D Semantic Occupancy Prediction

Holistic understanding and reasoning in 3D scenes are crucial for the success of autonomous driving systems. The evolution of 3D semantic occupancy prediction as a pretraining task for autonomous driving and robotic applications captures finer 3D details compared to traditional 3D detection methods. Vision-based 3D semantic occupancy prediction is increasingly overlooked in favor of LiDAR-based approaches, which have shown superior performance in recent years. However, we present compelling evidence that there is still potential for enhancing vision-based methods. Existing approaches predominantly focus on spatial cues such as tri-perspective view (TPV) embeddings, often overlooking temporal cues. This study introduces S2TPVFormer, a spatiotemporal transformer architecture designed to predict temporally coherent 3D semantic occupancy. By introducing temporal cues through a novel Temporal Cross-View Hybrid Attention mechanism (TCVHA), we generate Spatiotemporal TPV (S2TPV) embeddings that enhance the prior process. Experimental evaluations on the nuScenes dataset demonstrate a significant +4.1% of absolute gain in mean Intersection over Union (mIoU) for 3D semantic occupancy compared to baseline TPVFormer, validating the effectiveness of S2TPVFormer in advancing 3D scene perception.

cs.CV↗

arXiv2025

CrossVideoMAE: Self-Supervised Image-Video Representation Learning with Masked Autoencoders

Current video-based Masked Autoencoders (MAEs) primarily focus on learning effective spatiotemporal representations from a visual perspective, which may lead the model to prioritize general spatial-temporal patterns but often overlook nuanced semantic attributes like specific interactions or sequences that define actions - such as action-specific features that align more closely with human cognition for space-time correspondence. This can limit the model's ability to capture the essence of certain actions that are contextually rich and continuous. Humans are capable of mapping visual concepts, object view invariance, and semantic attributes available in static instances to comprehend natural dynamic scenes or videos. Existing MAEs for videos and static images rely on separate datasets for videos and images, which may lack the rich semantic attributes necessary for fully understanding the learned concepts, especially when compared to using video and corresponding sampled frame images together. To this end, we propose CrossVideoMAE an end-to-end self-supervised cross-modal contrastive learning MAE that effectively learns both video-level and frame-level rich spatiotemporal representations and semantic attributes. Our method integrates mutual spatiotemporal information from videos with spatial information from sampled frames within a feature-invariant space, while encouraging invariance to augmentations within the video domain. This objective is achieved through jointly embedding features of visible tokens and combining feature correspondence within and across modalities, which is critical for acquiring rich, label-free guiding signals from both video and frame image modalities in a self-supervised manner. Extensive experiments demonstrate that our approach surpasses previous state-of-the-art methods and ablation studies validate the effectiveness of our approach.

cs.CV↗

arXiv2025

GazeGrasp: DNN-Driven Robotic Grasping with Wearable Eye-Gaze Interface

We present GazeGrasp, a gaze-based manipulation system enabling individuals with motor impairments to control collaborative robots using eye-gaze. The system employs an ESP32 CAM for eye tracking, MediaPipe for gaze detection, and YOLOv8 for object localization, integrated with a Universal Robot UR10 for manipulation tasks. After user-specific calibration, the system allows intuitive object selection with a magnetic snapping effect and robot control via eye gestures. Experimental evaluation involving 13 participants demonstrated that the magnetic snapping effect significantly reduced gaze alignment time, improving task efficiency by 31%. GazeGrasp provides a robust, hands-free interface for assistive robotics, enhancing accessibility and autonomy for users.

cs.RO↗

arXiv2024

DPA: Dual Prototypes Alignment for Unsupervised Adaptation of Vision-Language Models

Vision-language models (VLMs), e.g., CLIP, have shown remarkable potential in zero-shot image classification. However, adapting these models to new domains remains challenging, especially in unsupervised settings where labeled data is unavailable. Recent research has proposed pseudo-labeling approaches to adapt CLIP in an unsupervised manner using unlabeled target data. Nonetheless, these methods struggle due to noisy pseudo-labels resulting from the misalignment between CLIP's visual and textual representations. This study introduces DPA, an unsupervised domain adaptation method for VLMs. DPA introduces the concept of dual prototypes, acting as distinct classifiers, along with the convex combination of their outputs, thereby leading to accurate pseudo-label construction. Next, it ranks pseudo-labels to facilitate robust self-training, particularly during early training. Finally, it addresses visual-textual misalignment by aligning textual prototypes with image prototypes to further improve the adaptation performance. Experiments on 13 downstream vision tasks demonstrate that DPA significantly outperforms zero-shot CLIP and the state-of-the-art unsupervised adaptation baselines.

cs.CV↗

arXiv2024

Divergent Domains, Convergent Grading: Enhancing Generalization in Diabetic Retinopathy Grading

Diabetic Retinopathy (DR) constitutes 5% of global blindness cases. While numerous deep learning approaches have sought to enhance traditional DR grading methods, they often falter when confronted with new out-of-distribution data thereby impeding their widespread application. In this study, we introduce a novel deep learning method for achieving domain generalization (DG) in DR grading and make the following contributions. First, we propose a new way of generating image-to-image diagnostically relevant fundus augmentations conditioned on the grade of the original fundus image. These augmentations are tailored to emulate the types of shifts in DR datasets thus increase the model's robustness. Second, we address the limitations of the standard classification loss in DG for DR fundus datasets by proposing a new DG-specific loss, domain alignment loss; which ensures that the feature vectors from all domains corresponding to the same class converge onto the same manifold for better domain generalization. Third, we tackle the coupled problem of data imbalance across DR domains and classes by proposing to employ Focal loss which seamlessly integrates with our new alignment loss. Fourth, due to inevitable observer variability in DR diagnosis that induces label noise, we propose leveraging self-supervised pretraining. This approach ensures that our DG model remains robust against early susceptibility to label noise, even when only a limited dataset of non-DR fundus images is available for pretraining. Our method demonstrates significant improvements over the strong Empirical Risk Minimization baseline and other recently proposed state-of-the-art DG methods for DR grading. Code is available at https://github.com/sharonchokuwa/dg-adr.

eess.IV↗

arXiv2024

Depth Attention for Robust RGB Tracking

RGB video object tracking is a fundamental task in computer vision. Its effectiveness can be improved using depth information, particularly for handling motion-blurred target. However, depth information is often missing in commonly used tracking benchmarks. In this work, we propose a new framework that leverages monocular depth estimation to counter the challenges of tracking targets that are out of view or affected by motion blur in RGB video sequences. Specifically, our work introduces following contributions. To the best of our knowledge, we are the first to propose a depth attention mechanism and to formulate a simple framework that allows seamlessly integration of depth information with state of the art tracking algorithms, without RGB-D cameras, elevating accuracy and robustness. We provide extensive experiments on six challenging tracking benchmarks. Our results demonstrate that our approach provides consistent gains over several strong baselines and achieves new SOTA performance. We believe that our method will open up new possibilities for more sophisticated VOT solutions in real-world scenarios. Our code and models are publicly released: https://github.com/LiuYuML/Depth-Attention.

cs.CV↗

arXiv2024

NT-VOT211: A Large-Scale Benchmark for Night-time Visual Object Tracking

Many current visual object tracking benchmarks such as OTB100, NfS, UAV123, LaSOT, and GOT-10K, predominantly contain day-time scenarios while the challenges posed by the night-time has been less investigated. It is primarily because of the lack of a large-scale, well-annotated night-time benchmark for rigorously evaluating tracking algorithms. To this end, this paper presents NT-VOT211, a new benchmark tailored for evaluating visual object tracking algorithms in the challenging night-time conditions. NT-VOT211 consists of 211 diverse videos, offering 211,000 well-annotated frames with 8 attributes including camera motion, deformation, fast motion, motion blur, tiny target, distractors, occlusion and out-of-view. To the best of our knowledge, it is the largest night-time tracking benchmark to-date that is specifically designed to address unique challenges such as adverse visibility, image blur, and distractors inherent to night-time tracking scenarios. Through a comprehensive analysis of results obtained from 42 diverse tracking algorithms on NT-VOT211, we uncover the strengths and limitations of these algorithms, highlighting opportunities for enhancements in visual object tracking, particularly in environments with suboptimal lighting. Besides, a leaderboard for revealing performance rankings, annotation tools, comprehensive meta-information and all the necessary code for reproducibility of results is made publicly available. We believe that our NT-VOT211 benchmark will not only be instrumental in facilitating field deployment of VOT algorithms, but will also help VOT enhancements and it will unlock new real-world tracking applications. Our dataset and other assets can be found at: {https://github.com/LiuYuML/NV-VOT211.

cs.CV↗

arXiv2024

Towards Combating Frequency Simplicity-biased Learning for Domain Generalization

Domain generalization methods aim to learn transferable knowledge from source domains that can generalize well to unseen target domains. Recent studies show that neural networks frequently suffer from a simplicity-biased learning behavior which leads to over-reliance on specific frequency sets, namely as frequency shortcuts, instead of semantic information, resulting in poor generalization performance. Despite previous data augmentation techniques successfully enhancing generalization performances, they intend to apply more frequency shortcuts, thereby causing hallucinations of generalization improvement. In this paper, we aim to prevent such learning behavior of applying frequency shortcuts from a data-driven perspective. Given the theoretical justification of models' biased learning behavior on different spatial frequency components, which is based on the dataset frequency properties, we argue that the learning behavior on various frequency components could be manipulated by changing the dataset statistical structure in the Fourier domain. Intuitively, as frequency shortcuts are hidden in the dominant and highly dependent frequencies of dataset structure, dynamically perturbating the over-reliance frequency components could prevent the application of frequency shortcuts. To this end, we propose two effective data augmentation modules designed to collaboratively and adaptively adjust the frequency characteristic of the dataset, aiming to dynamically influence the learning behavior of the model and ultimately serving as a strategy to mitigate shortcut learning. Code is available at AdvFrequency (https://github.com/C0notSilly/AdvFrequency).

cs.LG↗

arXiv2024

Musinger: Communication of Music over a Distance with Wearable Haptic Display and Touch Sensitive Surface

This study explores the integration of auditory and tactile experiences in musical haptics, focusing on enhancing sensory dimensions of music through touch. Addressing the gap in translating auditory signals to meaningful tactile feedback, our research introduces a novel method involving a touch-sensitive recorder and a wearable haptic display that captures musical interactions via force sensors and converts these into tactile sensations. Previous studies have shown the potential of haptic feedback to enhance musical expressivity, yet challenges remain in conveying complex musical nuances. Our method aims to expand music accessibility for individuals with hearing impairments and deepen digital musical interactions. Experimental results reveal high accuracy ($98\%$ without noise, 93% with white noise) in melody recognition through tactile feedback, demonstrating effective transmission and perception of musical information. The findings highlight the potential of haptic technology to bridge sensory gaps, offering significant implications for music therapy, education, and remote musical collaboration, advancing the field of musical haptics and multi-sensory technology applications.

cs.HC↗

arXiv2024

Multi-modal Medical Image Fusion For Non-Small Cell Lung Cancer Classification

The early detection and nuanced subtype classification of non-small cell lung cancer (NSCLC), a predominant cause of cancer mortality worldwide, is a critical and complex issue. In this paper, we introduce an innovative integration of multi-modal data, synthesizing fused medical imaging (CT and PET scans) with clinical health records and genomic data. This unique fusion methodology leverages advanced machine learning models, notably MedClip and BEiT, for sophisticated image feature extraction, setting a new standard in computational oncology. Our research surpasses existing approaches, as evidenced by a substantial enhancement in NSCLC detection and classification precision. The results showcase notable improvements across key performance metrics, including accuracy, precision, recall, and F1-score. Specifically, our leading multi-modal classifier model records an impressive accuracy of 94.04%. We believe that our approach has the potential to transform NSCLC diagnostics, facilitating earlier detection and more effective treatment planning and, ultimately, leading to superior patient outcomes in lung cancer care.

eess.IV↗

arXiv2024

How Effective are Self-Supervised Models for Contact Identification in Videos

The exploration of video content via Self-Supervised Learning (SSL) models has unveiled a dynamic field of study, emphasizing both the complex challenges and unique opportunities inherent in this area. Despite the growing body of research, the ability of SSL models to detect physical contacts in videos remains largely unexplored, particularly the effectiveness of methods such as downstream supervision with linear probing or full fine-tuning. This work aims to bridge this gap by employing eight different convolutional neural networks (CNNs) based video SSL models to identify instances of physical contact within video sequences specifically. The Something-Something v2 (SSv2) and Epic-Kitchen (EK-100) datasets were chosen for evaluating these approaches due to the promising results on UCF101 and HMDB51, coupled with their limited prior assessment on SSv2 and EK-100. Additionally, these datasets feature diverse environments and scenarios, essential for testing the robustness and accuracy of video-based models. This approach not only examines the effectiveness of each model in recognizing physical contacts but also explores the performance in the action recognition downstream task. By doing so, valuable insights into the adaptability of SSL models in interpreting complex, dynamic visual information are contributed.

cs.CV↗

arXiv2024

Improving Pseudo-labelling and Enhancing Robustness for Semi-Supervised Domain Generalization

Beyond attaining domain generalization (DG), visual recognition models should also be data-efficient during learning by leveraging limited labels. We study the problem of Semi-Supervised Domain Generalization (SSDG) which is crucial for real-world applications like automated healthcare. SSDG requires learning a cross-domain generalizable model when the given training data is only partially labelled. Empirical investigations reveal that the DG methods tend to underperform in SSDG settings, likely because they are unable to exploit the unlabelled data. Semi-supervised learning (SSL) shows improved but still inferior results compared to fully-supervised learning. A key challenge, faced by the best-performing SSL-based SSDG methods, is selecting accurate pseudo-labels under multiple domain shifts and reducing overfitting to source domains under limited labels. In this work, we propose new SSDG approach, which utilizes a novel uncertainty-guided pseudo-labelling with model averaging (UPLM). Our uncertainty-guided pseudo-labelling (UPL) uses model uncertainty to improve pseudo-labelling selection, addressing poor model calibration under multi-source unlabelled data. The UPL technique, enhanced by our novel model averaging (MA) strategy, mitigates overfitting to source domains with limited labels. Extensive experiments on key representative DG datasets suggest that our method demonstrates effectiveness against existing methods. Our code and chosen labelled data seeds are available on GitHub: https://github.com/Adnan-Khan7/UPLM

cs.CV↗

arXiv2024

Industry 6.0: New Generation of Industry driven by Generative AI and Swarm of Heterogeneous Robots

This paper presents the concept of Industry 6.0, introducing the world's first fully automated production system that autonomously handles the entire product design and manufacturing process based on user-provided natural language descriptions. By leveraging generative AI, the system automates critical aspects of production, including product blueprint design, component manufacturing, logistics, and assembly. A heterogeneous swarm of robots, each equipped with individual AI through integration with Large Language Models (LLMs), orchestrates the production process. The robotic system includes manipulator arms, delivery drones, and 3D printers capable of generating assembly blueprints. The system was evaluated using commercial and open-source LLMs, functioning through APIs and local deployment. A user study demonstrated that the system reduces the average production time to 119.10 minutes, significantly outperforming a team of expert human developers, who averaged 528.64 minutes (an improvement factor of 4.4). Furthermore, in the product blueprinting stage, the system surpassed human CAD operators by an unprecedented factor of 47, completing the task in 0.5 minutes compared to 23.5 minutes. This breakthrough represents a major leap towards fully autonomous manufacturing.

cs.RO↗

arXiv2024

Realistic and Efficient Face Swapping: A Unified Approach with Diffusion Models

Despite promising progress in face swapping task, realistic swapped images remain elusive, often marred by artifacts, particularly in scenarios involving high pose variation, color differences, and occlusion. To address these issues, we propose a novel approach that better harnesses diffusion models for face-swapping by making following core contributions. (a) We propose to re-frame the face-swapping task as a self-supervised, train-time inpainting problem, enhancing the identity transfer while blending with the target image. (b) We introduce a multi-step Denoising Diffusion Implicit Model (DDIM) sampling during training, reinforcing identity and perceptual similarities. (c) Third, we introduce CLIP feature disentanglement to extract pose, expression, and lighting information from the target image, improving fidelity. (d) Further, we introduce a mask shuffling technique during inpainting training, which allows us to create a so-called universal model for swapping, with an additional feature of head swapping. Ours can swap hair and even accessories, beyond traditional face swapping. Unlike prior works reliant on multiple off-the-shelf models, ours is a relatively unified approach and so it is resilient to errors in other off-the-shelf models. Extensive experiments on FFHQ and CelebA datasets validate the efficacy and robustness of our approach, showcasing high-fidelity, realistic face-swapping with minimal inference time. Our code is available at https://github.com/Sanoojan/REFace.

cs.CV↗