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Omnidata: A Scalable Pipeline for Making Multi-Task Mid-Level Vision Datasets From 3D ScansAinaz Eftekhar Alexander Sax Jitendra Malik Amir ZamirIEEE International Conference on Computer Vision
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[(e)15(xtracted)-243(surf)10(ace)-243(normal)-243(in)-242(the)-243(last)-243(3)-243(columns)-243(\(right\),)-244(our)-243(depth)-243(predictions)-243(better)-242(re\003ect)-243(the)-243(curv)25(ature)-243(and)-243(true)-243(shape)-243(of)-242(the)-243(objects,)-245(while)-242(the)-243(same)-243(re)15(gions)] TJ 0 -9.464 Td [(appear)-250<036174>-250(in)-250(the)-250(predictions)-250(by)-250(the)-250(MiDaS)-250(model.)-310(The)-250(red)-250(rectangles)-250(highlight)-250(the)-250(re)15(gions)-250(useful)-250(for)-250(comparison)-250([best)-250(vie)25(wed)-250(zoomed)-250(in].)] TJ 0 g 0 G 0 g 0 G /F71 9.9626 Tf 0 -24.224 Td [(roll)-291(is)-291(uniform)-291(in)] TJ /F8 9.9626 Tf 71.924 0 Td [([)] TJ /F14 9.9626 Tf 2.767 0 Td [<00>] TJ /F8 9.9626 Tf 7.749 0 Td [(10)] TJ /F13 6.9738 Tf 9.963 3.616 Td [<0e>] TJ /F11 9.9626 Tf 4.58 -3.616 Td [(;)] TJ /F8 9.9626 Tf 4.428 0 Td [(10)] TJ /F13 6.9738 Tf 9.962 3.616 Td [<0e>] TJ /F8 9.9626 Tf 4.58 -3.616 Td [(])] TJ /F71 9.9626 Tf 2.768 0 Td [(.)-433(T)80(ab)40(.)] TJ 1 0 0 rg 1 0 0 RG [-290(1)] TJ 0 g 0 G [-291(contains)-291(data)-291(brok)10(en)] TJ -118.721 -11.955 Td [(do)25(wn)-250(to)-250(sub-datasets.)] TJ /F70 10.9589 Tf 0 -20.014 Td [(4.3.)-250(Soundness)-250(f)25(or)-250(Existing)-250(Computer)-250(V)37(ision)] TJ /F71 9.9626 Tf 11.955 -17.962 Td [(W)80(e)-297(demonstrate)-297(that)-298(the)-297(generated)-297(dataset)-297(is)-297(capable)-298(of)] TJ -11.955 -11.955 Td [(training)-262(standard,)-266(modern)-262(vision)-263(systems)-262(to)-263(state-of-the-art)] TJ 0 -11.955 Td [(performance)-261(on)-261(e)15(xisting)-261(benchmarks.)-343(Once)-262(we)-261(ha)20(v)15(e)-261(estab-)] TJ 0 -11.955 Td [(lished)-303(that)-302(the)-303(models)-302(can)-303(be)-302(trusted,)-316(we)-303(further)-302(pro)15(vide)-303(a)] TJ 0 -11.956 Td [(fe)25(w)-257(transfer)-256(e)15(xperiments)-257(to)-256(quantify)-257(ho)25(w)-257(related)-256(the)-257(dif)25(fer)20(-)] TJ 0 -11.955 Td [(ent)-250(component)-250(datasets)-250(are.)] TJ 11.955 -11.984 Td [(W)80(e)-196(sho)25(w)-195(that)-196(the)-195(models)-196(trained)-195(on)-196(a)-196(5-dataset)-195(portion)-196(of)] TJ -11.955 -11.956 Td [(the)-198(starter)-199(dataset)-198(\(4M)-199(images\))-198(for)-198(depth)-199(and)-198(surf)10(ace)-199(normal)] TJ 0 -11.955 Td [(estimation)-302(ha)20(v)15(e)-302(state-of-the-art)-301(performance)-302(on)-302(the)-302(in-the-)] TJ 0 -11.955 Td [(wild)-317(O)35(ASIS)-316(benchmark.)-510(T)80(o)-317(demonstrate)-316(the)-317(ef)25(fecti)25(v)15(eness)] TJ 0 -11.955 Td [(of)-266(the)-265(pipeline)-266(for)-265(semantic)-266(tasks,)-269(we)-266(sho)25(w)-266(that)-265(the)-266(predic-)] TJ 0 -11.955 Td [(tions)-218(from)-219(a)-218(netw)10(ork)-218(trained)-218(for)-219(panoptic)-218(se)15(gmentation)-218(on)-219(a)] TJ 0 -11.956 Td [(smaller)-222(3-dataset)-221(portion)-222(\(1M)-221(images\))-222(are)-222(of)-221(similar)-222(quality)] TJ 0 -11.955 Td [(to)-259(models)-258(trained)-259(on)-259(COCO)-258([)] TJ 0 1 0 rg 0 1 0 RG [(32)] TJ 0 g 0 G [(].)-336(Full)-259(e)15(xperimental)-259(details)] TJ 0 -11.955 Td [(and)-250(more)-250(results)-250(are)-250(a)20(v)25(ailable)-250(in)-250(the)] TJ 0 1 0 0 k 0 1 0 0 K [-250(supplementary)] TJ 0 g 0 G [(.)] TJ 0 g 0 G ET 1 0 0 1 50.112 274.285 cm q .70506 0 0 .70506 0 0 cm q 1 0 0 1 1.743 37.011 cm []0 d 0 J 0.398 w 0 0 m 331.593 0 l S Q q 1 0 0 1 1.943 27.247 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q 1 0 0 1 -50.112 -274.285 cm BT /F71 6.9738 Tf 69.618 304.402 Td [(Method)] TJ ET q 1 0 0 1 108.876 301.532 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F71 6.9738 Tf 120.463 304.402 Td [(T)70(est)-250(Data)] TJ ET q 1 0 0 1 158.48 301.532 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F71 6.9738 Tf 166.649 304.402 Td [(L1)-250(Error)-250(\()] TJ /F13 6.9738 Tf 28.272 0 Td [(#)] TJ /F71 6.9738 Tf 4.082 0 Td [(\))] TJ /F10 6.9738 Tf 18.263 0 Td [<0e>-361(>)] TJ /F7 6.9738 Tf 14.636 0 Td [(1)] TJ /F10 6.9738 Tf 3.971 0 Td [(:)] TJ /F7 6.9738 Tf 2.366 0 Td [(25)] TJ /F71 6.9738 Tf 9.686 0 Td [(\()] TJ /F13 6.9738 Tf 2.322 0 Td [(#)] TJ /F71 6.9738 Tf 4.082 0 Td [(\))] TJ /F10 6.9738 Tf 18.263 0 Td [<0e>-361(>)] TJ /F7 6.9738 Tf 14.636 0 Td [(1)] TJ /F10 6.9738 Tf 3.971 0 Td [(:)] TJ /F7 6.9738 Tf 2.366 0 Td [(25)] TJ /F6 4.9813 Tf 7.943 3.006 Td [(2)] TJ /F71 6.9738 Tf 5.631 -3.006 Td [(\()] TJ /F13 6.9738 Tf 2.323 0 Td [(#)] TJ /F71 6.9738 Tf 4.082 0 Td [(\))] TJ /F10 6.9738 Tf 18.262 0 Td [<0e>-361(>)] TJ /F7 6.9738 Tf 14.636 0 Td [(1)] TJ /F10 6.9738 Tf 3.971 0 Td [(:)] TJ /F7 6.9738 Tf 2.366 0 Td [(25)] TJ /F6 4.9813 Tf 7.943 3.006 Td [(3)] TJ /F71 6.9738 Tf 5.632 -3.006 Td [(\()] TJ /F13 6.9738 Tf 2.322 0 Td [(#)] TJ /F71 6.9738 Tf 4.082 0 Td [(\))] TJ ET q 1 0 0 1 383.25 301.532 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q q 1 0 0 1 51.855 301.333 cm []0 d 0 J 0.398 w 0 0 m 331.593 0 l S Q q 1 0 0 1 51.855 298.942 cm []0 d 0 J 0.398 w 0 0 m 331.593 0 l S Q q 1 0 0 1 52.055 289.179 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F71 6.9738 Tf 66.811 292.048 Td [(XTC)-250([)] TJ 0 1 0 rg 0 1 0 RG [(63)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 108.876 289.179 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q q 1 0 0 1 158.48 289.179 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F71 6.9738 Tf 176.142 292.048 Td [(1.180)-5346(85.28)-5962(71.86)-6241(60.22)] TJ ET q 1 0 0 1 383.25 289.179 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q q 1 0 0 1 52.055 279.615 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F71 6.9738 Tf 60.224 282.484 Td [(MiDaSv3)-250([)] TJ 0 1 0 rg 0 1 0 RG [(41)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 108.876 279.615 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F71 6.9738 Tf 117.046 282.484 Td [(O)35(ASIS)-250([)] TJ 0 1 0 rg 0 1 0 RG [(12)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 158.48 279.615 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F71 6.9738 Tf 174.398 282.484 Td [(0.8057)-5096(82.03)-5962(67.25)-6241(55.35)] TJ ET q 1 0 0 1 383.25 279.615 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q q 1 0 0 1 52.055 270.05 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F89 6.9738 Tf 63.728 272.92 Td [(Omnidata)] TJ ET q 1 0 0 1 108.876 270.05 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q q 1 0 0 1 158.48 270.05 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F70 6.9738 Tf 174.398 272.92 Td [(0.7901)-5096(81.00)-5962(65.22)-6241(52.93)] TJ ET q 1 0 0 1 383.25 270.05 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q q 1 0 0 1 51.855 269.851 cm []0 d 0 J 0.398 w 0 0 m 331.593 0 l S Q q 1 0 0 1 52.055 260.088 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F71 6.9738 Tf 66.811 262.957 Td [(XTC)-250([)] TJ 0 1 0 rg 0 1 0 RG [(63)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 108.876 260.088 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q q 1 0 0 1 158.48 260.088 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F71 6.9738 Tf 174.398 262.957 Td [(0.5279)-5096(70.41)-5962(49.90)-6241(36.28)] TJ ET q 1 0 0 1 383.25 260.088 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q q 1 0 0 1 52.055 250.524 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F71 6.9738 Tf 60.224 253.393 Td [(MiDaSv3)-250([)] TJ 0 1 0 rg 0 1 0 RG [(41)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 108.876 250.524 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F71 6.9738 Tf 119.445 253.393 Td [(NYU)-250([)] TJ 0 1 0 rg 0 1 0 RG [(47)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 158.48 250.524 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F71 6.9738 Tf 174.398 253.393 Td [(0.3838)-5096(63.84)-5962(41.65)-6241(28.97)] TJ ET q 1 0 0 1 383.25 250.524 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q q 1 0 0 1 52.055 240.96 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F89 6.9738 Tf 63.728 243.829 Td [(Omnidata)] TJ ET q 1 0 0 1 108.876 240.96 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q q 1 0 0 1 158.48 240.96 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q BT /F70 6.9738 Tf 174.398 243.829 Td [(0.2878)-5096(51.73)-5962(30.98)-6241(20.86)] TJ ET q 1 0 0 1 383.25 240.96 cm []0 d 0 J 0.398 w 0 0 m 0 9.564 l S Q q 1 0 0 1 51.855 240.76 cm []0 d 0 J 0.398 w 0 0 m 331.593 0 l S Q 1 0 0 1 50.112 274.285 cm Q 0 g 0 G 1 0 0 1 -50.112 -274.285 cm BT /F71 9.9626 Tf 50.112 238.267 Td [(T)80(able)-349(2:)] TJ /F70 7.9701 Tf 38.188 0 Td [(Zer)18(o-shot)-349(depth)-350(estimation.)] TJ /F71 7.9701 Tf 100.374 0 Td [(On)-349(NYU)-350(and)-349(O)35(ASIS,)-349(a)-350(DPT)92(-)] TJ -138.562 -9.465 Td [(Hybrid)-329(trained)-329(on)-330(the)] TJ /F73 7.9701 Tf 72.917 0 Td [(Omnidata)] TJ /F71 7.9701 Tf 40.881 0 Td [(starter)-329(dataset)-329(is)-330(comparable)-329(or)-329(better)] TJ -113.798 -9.464 Td [(then)-250(the)-250(same)-250(model)-250(trained)-250(on)-250(e)15(xisting)-250(depth)-250(datasets.)] TJ 0 g 0 G 0 g 0 G 0 g 0 G ET 1 0 0 1 50.113 179.646 cm q .73398 0 0 .73398 0 0 cm q 1 0 0 1 1.744 42.989 cm []0 d 0 J 0.398 w 0 0 m 318.385 0 l S Q q 1 0 0 1 1.943 34.023 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q q 1 0 0 1 62.272 34.023 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q q 1 0 0 1 111.316 34.023 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q 1 0 0 1 -50.113 -179.646 cm BT /F71 6.9738 Tf 167.476 216.299 Td [(Anglular)-250(Error)] TJ /F12 4.9813 Tf 41.25 3.007 Td [<0e>] TJ ET q 1 0 0 1 218.937 213.669 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F7 6.9738 Tf 244.206 216.299 Td [(%)] TJ /F71 6.9738 Tf 8.289 0 Td [(W)40(ithin)] TJ /F10 6.9738 Tf 20.837 0 Td [(t)] TJ /F12 4.9813 Tf 3.01 3.007 Td [<0e>] TJ ET q 1 0 0 1 305.776 213.669 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 314.903 216.299 Td [(Relati)25(v)15(e)-250(Normal)] TJ ET q 1 0 0 1 370.043 213.669 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q q 1 0 0 1 52.056 204.902 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 71.373 207.532 Td [(Method)] TJ ET q 1 0 0 1 112.385 204.902 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 117.565 207.532 Td [(T)35(raining)-250(Data)] TJ ET q 1 0 0 1 161.429 204.902 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 166.61 207.532 Td [(Mean)-1429(Median)] TJ ET q 1 0 0 1 218.937 204.902 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F7 6.9738 Tf 224.118 207.532 Td [(11)] TJ /F10 6.9738 Tf 7.942 0 Td [(:)] TJ /F7 6.9738 Tf 2.366 0 Td [(25)] TJ /F12 4.9813 Tf 7.943 3.006 Td [<0e>] TJ /F7 6.9738 Tf 14.127 -3.006 Td [(22)] TJ /F10 6.9738 Tf 7.943 0 Td [(:)] TJ /F7 6.9738 Tf 2.366 0 Td [(5)] TJ /F12 4.9813 Tf 3.971 3.006 Td [<0e>] TJ /F7 6.9738 Tf 15.92 -3.006 Td [(30)] TJ /F12 4.9813 Tf 7.942 3.006 Td [<0e>] TJ ET q 1 0 0 1 305.776 204.902 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F10 6.9738 Tf 310.956 207.532 Td [(AU)-107(C)] TJ /F9 4.9813 Tf 17.881 -0.996 Td [(o)] TJ /F10 6.9738 Tf 13.962 0.996 Td [(AU)-107(C)] TJ /F9 4.9813 Tf 17.88 -0.996 Td [(p)] TJ ET q 1 0 0 1 370.043 204.902 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q q 1 0 0 1 51.857 204.703 cm []0 d 0 J 0.398 w 0 0 m 318.385 0 l S Q q 1 0 0 1 51.857 202.312 cm []0 d 0 J 0.398 w 0 0 m 318.385 0 l S Q q 1 0 0 1 52.056 193.345 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 61.463 195.975 Td [(Hour)18(glass)-250([)] TJ 0 1 0 rg 0 1 0 RG [(11)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 112.385 193.345 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 120.274 195.975 Td [(O)35(ASIS)-250([)] TJ 0 1 0 rg 0 1 0 RG [(12)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 161.429 193.345 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F70 6.9738 Tf 166.704 195.975 Td [(23.91)] TJ /F71 6.9738 Tf 28.555 0 Td [(18.16)] TJ ET q 1 0 0 1 218.937 193.345 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F70 6.9738 Tf 227.48 195.975 Td [(31.23)] TJ /F71 6.9738 Tf 30.393 0 Td [(59.45)] TJ /F70 6.9738 Tf 27.031 0 Td [(71.77)] TJ ET q 1 0 0 1 305.776 193.345 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 312.307 195.975 Td [(0.5913)-1829(0.5786)] TJ ET q 1 0 0 1 370.043 193.345 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q q 1 0 0 1 52.056 184.578 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 61.463 187.208 Td [(Hour)18(glass)-250([)] TJ 0 1 0 rg 0 1 0 RG [(11)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 112.385 184.578 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 120.083 187.208 Td [(SNO)35(W)-250([)] TJ 0 1 0 rg 0 1 0 RG [(13)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 161.429 184.578 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 166.704 187.208 Td [(31.35)-1845(26.97)] TJ ET q 1 0 0 1 218.937 184.578 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 227.48 187.208 Td [(13.98)-2108(40.20)-1626(56.03)] TJ ET q 1 0 0 1 305.776 184.578 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 312.307 187.208 Td [(0.5329)-1829(0.5016)] TJ ET q 1 0 0 1 370.043 184.578 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q q 1 0 0 1 52.056 175.811 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 61.463 178.441 Td [(Hour)18(glass)-250([)] TJ 0 1 0 rg 0 1 0 RG [(11)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 112.385 175.811 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 122.673 178.441 Td [(NYU)-250([)] TJ 0 1 0 rg 0 1 0 RG [(48)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 161.429 175.811 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 166.704 178.441 Td [(35.32)-1845(29.21)] TJ ET q 1 0 0 1 218.937 175.811 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 227.48 178.441 Td [(14.23)-2108(37.72)-1626(51.31)] TJ ET q 1 0 0 1 305.776 175.811 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 312.307 178.441 Td [(0.5467)-1829(0.5132)] TJ ET q 1 0 0 1 370.043 175.811 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q q 1 0 0 1 52.056 167.044 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 67.01 169.674 Td [(PBRS)-250([)] TJ 0 1 0 rg 0 1 0 RG [(66)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 112.385 167.044 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 122.673 169.674 Td [(NYU)-250([)] TJ 0 1 0 rg 0 1 0 RG [(48)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 161.429 167.044 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 166.704 169.674 Td [(38.29)-1845(33.16)] TJ ET q 1 0 0 1 218.937 167.044 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 227.48 169.674 Td [(11.59)-2108(32.14)-1626(45.00)] TJ ET q 1 0 0 1 305.776 167.044 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 312.307 169.674 Td [(0.5669)-1829(0.5253)] TJ ET q 1 0 0 1 370.043 167.044 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q q 1 0 0 1 52.056 158.276 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 67.987 160.907 Td [(UNet)-250([)] TJ 0 1 0 rg 0 1 0 RG [(45)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 112.385 158.276 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 119.957 160.907 Td [(SunCG)-250([)] TJ 0 1 0 rg 0 1 0 RG [(49)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 161.429 158.276 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 166.704 160.907 Td [(35.42)-1845(28.70)] TJ ET q 1 0 0 1 218.937 158.276 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 227.48 160.907 Td [(12.31)-2108(38.51)-1626(52.15)] TJ ET q 1 0 0 1 305.776 158.276 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 312.307 160.907 Td [(0.5871)-1829(0.5318)] TJ ET q 1 0 0 1 370.043 158.276 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q q 1 0 0 1 51.857 158.077 cm []0 d 0 J 0.398 w 0 0 m 318.385 0 l S Q q 1 0 0 1 52.056 149.111 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F70 6.9738 Tf 67.795 151.741 Td [(UNet)] TJ /F71 6.9738 Tf 17.232 0 Td [([)] TJ 0 1 0 rg 0 1 0 RG [(45)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 112.385 149.111 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F89 6.9738 Tf 120.17 151.741 Td [(Omnidata)] TJ ET q 1 0 0 1 161.429 149.111 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 166.704 151.741 Td [(24.87)] TJ /F70 6.9738 Tf 28.555 0 Td [(18.04)] TJ ET q 1 0 0 1 218.937 149.111 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F71 6.9738 Tf 227.48 151.741 Td [(31.02)] TJ /F70 6.9738 Tf 30.393 0 Td [(59.53)] TJ /F71 6.9738 Tf 27.031 0 Td [(71.37)] TJ ET q 1 0 0 1 305.776 149.111 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q BT /F70 6.9738 Tf 312.307 151.741 Td [(0.6692)-1829(0.6758)] TJ ET q 1 0 0 1 370.043 149.111 cm []0 d 0 J 0.398 w 0 0 m 0 8.767 l S Q q 1 0 0 1 52.056 140.344 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[(split\).)-408(Relati)25(v)15(e)-283(to)-283(usi)1(ng)-283(only)-283(RGB)-283(inputs)-282(and)-283(the)-283(semantic)] TJ 0 -11.955 Td [(se)15(gmentation)-399(labels,)-437(cross-entrop)10(y)-399(performance)-400(impro)15(v)15(es)] TJ 0 -11.955 Td [(across)-367(the)-367(board)-367(when)-367(treating)-367(the)-367(cues)-367(as)-367(sensors)-367(\(23%,)] TJ 0 -11.955 Td [(34%)-375(and)-374(30%\))-375(or)-374(using)-375(them)-375(as)-374(intermediate)-375(representa-)] TJ 0 -11.955 Td [(tions)-341(\(13%,)-364(17%,)-363(and)-341(19%\).)-583(Adding)-341(more)-341(cues)-341(seems)-341(to)] TJ 0 -11.956 Td [(help.)-310(Full)-250(e)15(xperimental)-250(settings)-250(in)-250(the)] TJ 0 1 0 0 k 0 1 0 0 K [-250(supplementary)] TJ 0 g 0 G [(.)] TJ 11.955 -12.326 Td [(Future)-255(w)10(ork)-256(could)-255(further)-255(analyze)-255(ho)25(w)-255(the)-256(ef)25(fecti)25(v)15(eness)] TJ -11.955 -11.955 Td [(of)-296(these)-297(dif)25(ferent)-296(methods)-297(change)-296(with)-296(dataset)-297(size,)-308(which)] TJ 0 -11.955 Td [(cues)-255(to)-254(use,)-256(ho)25(w)-254(man)15(y)-255(additional)-254(images)-255(a)-255(mid-le)25(v)15(el)-254(cue)-255(is)] TJ 0 -11.955 Td [(w)10(orth,)-309(and)-297(on)-297(the)-297(relati)25(v)15(e)-297(importance)-297(of)-297(getting)-297(more)-297(data)] TJ 0 -11.955 Td [(from)-250(the)-250(same)-250(scene)-250(vs.)-310(adding)-250(data)-250(from)-250(ne)25(w)-250(scenes.)] TJ 0 g 0 G ET 1 0 0 1 50.113 204.132 cm q .76387 0 0 .76387 0 0 cm q 1 0 0 1 1.743 31.233 cm []0 d 0 J 0.398 w 0 0 m 314.042 0 l S Q q 1 0 0 1 1.943 23.063 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q q 1 0 0 1 147.698 23.063 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q 1 0 0 1 -50.113 -204.132 cm BT /F71 6.9738 Tf 219.489 229.586 Td [(GT)-250(Mid-Le)25(v)15(el)] TJ ET q 1 0 0 1 281.755 227.195 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 294.911 229.586 Td [(Predicted)-250(Mid-Le)25(v)15(el)] TJ ET q 1 0 0 1 365.699 227.195 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q q 1 0 0 1 198.011 226.996 cm []0 d 0 J 0.398 w 0 0 m 167.888 0 l S Q q 1 0 0 1 52.056 219.225 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 87.645 221.616 Td [(Input/Supervised)-250(Domains)] TJ ET q 1 0 0 1 197.811 219.225 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 214.244 221.616 Td [(Cross-Entrop)10(y)-250(\()] TJ /F13 6.9738 Tf 44.674 0 Td [(#)] TJ /F71 6.9738 Tf 4.082 0 Td [(\))] TJ ET q 1 0 0 1 281.755 219.225 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 298.188 221.616 Td [(Cross-Entrop)10(y)-250(\()] TJ /F13 6.9738 Tf 44.674 0 Td [(#)] TJ /F71 6.9738 Tf 4.082 0 Td [(\))] TJ ET q 1 0 0 1 365.699 219.225 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q q 1 0 0 1 52.056 211.255 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q q 1 0 0 1 197.811 211.255 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 203.988 213.646 Td [(Repl.)-1714(H.Sim)-1715(T)80(ask.)] TJ ET q 1 0 0 1 281.755 211.255 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 287.932 213.646 Td [(Repl.)-1714(H.Sim)-1715(T)80(ask.)] TJ ET q 1 0 0 1 365.699 211.255 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q q 1 0 0 1 51.856 211.056 cm []0 d 0 J 0.398 w 0 0 m 314.042 0 l S Q q 1 0 0 1 51.856 208.665 cm []0 d 0 J 0.398 w 0 0 m 314.042 0 l S Q q 1 0 0 1 52.056 200.496 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 117.764 202.887 Td [(RGB)] TJ ET q 1 0 0 1 197.811 200.496 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 205.344 202.887 Td [(0.61)-2326(5.87)-2313(7.55)] TJ ET q 1 0 0 1 281.755 200.496 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 289.288 202.887 Td [(0.61)-2326(5.87)-2313(7.55)] TJ ET q 1 0 0 1 365.699 200.496 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q q 1 0 0 1 52.056 192.525 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 92.373 194.917 Td [(\(All)-250(Abo)15(v)15(e\))-250(+)-250(Normals)] TJ ET q 1 0 0 1 197.811 192.525 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 205.344 194.917 Td [(0.47)-2326(4.47)-2313(6.12)] TJ ET q 1 0 0 1 281.755 192.525 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 289.288 194.917 Td [(0.61)-2326(5.44)-2313(7.12)] TJ ET q 1 0 0 1 365.699 192.525 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q q 1 0 0 1 52.056 184.555 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 90.727 186.946 Td [(\(All)-250(Abo)15(v)15(e\))-250(+)-250(3D)-250(Edges)] TJ ET q 1 0 0 1 197.811 184.555 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F70 6.9738 Tf 205.344 186.946 Td [(0.46)] TJ /F71 6.9738 Tf 28.424 0 Td [(4.47)-2313(6.75)] TJ ET q 1 0 0 1 281.755 184.555 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 289.288 186.946 Td [(0.54)-2326(5.06)-2313(6.49)] TJ ET q 1 0 0 1 365.699 184.555 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q q 1 0 0 1 52.056 176.585 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F71 6.9738 Tf 58.233 178.976 Td [(\(All)-250(Abo)15(v)15(e\))-250(+)-250(\(2D)-250(Edges,)-250(Z-Depth,)-250(3D)-250(K)25(e)15(ypts\))] TJ ET q 1 0 0 1 197.811 176.585 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F70 6.9738 Tf 205.344 178.976 Td [(0.46)-2326(3.86)-2313(6.04)] TJ ET q 1 0 0 1 281.755 176.585 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q BT /F70 6.9738 Tf 289.288 178.976 Td [(0.53)-2576(4.9)-2563(6.13)] TJ ET q 1 0 0 1 365.699 176.585 cm []0 d 0 J 0.398 w 0 0 m 0 7.97 l S Q q 1 0 0 1 51.856 176.386 cm []0 d 0 J 0.398 w 0 0 m 314.042 0 l S Q 1 0 0 1 50.113 204.132 cm Q 0 g 0 G 1 0 0 1 -50.113 -204.132 cm BT /F71 9.9626 Tf 50.112 169.127 Td [(T)80(able)-201(5:)] TJ /F70 7.9701 Tf 34.488 0 Td [(Utility)-201(of)-201(mid-le)15(v)10(el)-201(cues.)] TJ /F71 7.9701 Tf 83.32 0 Td [(The)-201(table)-201(sho)25(ws)-202(s)1(emantic)-202(se)15(gmentation)] TJ -117.808 -9.464 Td [(results)-359(using)-359(models)-359(trained)-359(on)-359(Replica.)-638(The)-359(models)-359(\(e)15(xcept)-359(for)-359<935247429429>] TJ 0 -9.465 Td [(recei)25(v)15(ed)-265(\(either)-266(predicted)-265(or)-266(GT\))-265(mid-le)25(v)15(el)-265(cues)-266(in)-265(their)-266(input)-265(in)-265(addition)-266(to)] TJ 0 -9.464 Td [(the)-250(RGB.)-250(The)-250(results)-250(sho)25(w)-250(the)15(y)-250(notably)-250(bene\002ted)-250(from)-250(the)-250(mid-le)25(v)15(el)-250(cues.)] TJ 0 g 0 G 0 g 0 G /F70 10.9589 Tf 0 -17.52 Td [(5.3.)-250(Systematic)-250(Ev)10(aluation)-250(of)-250(MultiT)92(ask)-250(Lear)15(ning)] TJ /F71 9.9626 Tf 11.955 -18.304 Td [(Recent)-359(w)10(ork)-358([)] TJ 0 1 0 rg 0 1 0 RG [(55)] TJ 0 g 0 G [(])-359(sho)25(ws)-359(that)-358(e)15(xisting)-359(MTL)-359(techniques)] TJ -11.955 -11.955 Td [(for)-401(computer)-401(vision)-401(appear)-400(to)-401(be)-401(specialized)-401(to)-401(their)-401(de-)] TJ 0 -11.955 Td [(v)15(elopment)-364(setting,)-393(and)-364(in)-364(general)-364(the)15(y)-364(do)-364(not)-364(outperform)] TJ 0 g 0 G 0 g 0 G 258.75 629.037 Td [(single-task)-264(or)-264(shared-encoder)-264(approaches)-264(on)-264(no)15(v)15(el)-264(datasets)] TJ 0 -11.955 Td [(or)-334(tasks)1(.)-561(W)80(e)-334(e)15(xtend)-333(those)-334(results)-333(for)-334(additional)-333(tasks)-334(\(3D)] TJ 0 -11.955 Td [(K)25(e)15(ypoints\))-331(and)-331(add)-332(numbers)-331(on)-331(our)-331(dataset)-331(as)-332(a)-331(compari-)] TJ 0 -11.955 Td [(son)-255(point.)-323(Speci\002cally)65(,)-256(we)-255(follo)25(w)-254([)] TJ 0 1 0 rg 0 1 0 RG [(55)] TJ 0 g 0 G [(])-255(and)-255(trai)1(n)-255(models)-255(for)] TJ 0 -11.955 Td [(a)-317<0278>15(ed)-316(set)-317(of)-316(tasks)-317(\(semantic)-316(se)15(gmentation,)-333(3D)-317(k)10(e)15(ypoints,)] TJ 0 -11.956 Td [(depth)-357(z-b)20(uf)25(fer)40(,)-383(and)-357(occlusion)-357(edges\))-356(using)-357(dif)25(ferent)-357(MTL)] TJ 0 -11.955 Td [(methods)-257(\(T)80(ab)40(.)] TJ 1 0 0 rg 1 0 0 RG [-257(6)] TJ 0 g 0 G [(\).)-331(On)-257(a)-257(3-dataset)-257(split)-257(of)-257(the)-257(starter)-257(dataset,)] TJ 0 -11.955 Td [(some)-206(methods)-205(naturally)-206(perform)-205(better)-206(and)-206(other)1(s)-206(do)-206(w)10(orse.)] TJ 0 -11.955 Td [(One)-321(might)-322(hope)-321(that)-322(the)-321(ordering)-321(of)-322(these)-321(methods)-322(w)10(ould)] TJ 0 -11.955 Td [(be)-195(the)-196(same)-195(on)-195(dif)25(ferent)-196(tasks)-195(\(semantic)-195(se)15(gmentation)-195(vs)-196(3D)] TJ 0 -11.955 Td [(K)25(e)15(ypoints\),)-214(or)-206(at)-205(least)-205(when)-206(training)-205(for)-206(those)-205(same)-205(tasks)-206(on)] TJ 0 -11.956 Td [(a)-276(dif)25(ferent)-277(dataset)-276(\(NYU)-276([)] TJ 0 1 0 rg 0 1 0 RG [(47)] TJ 0 g 0 G [(],)-283(CityScapes)-276([)] TJ 0 1 0 rg 0 1 0 RG [(17)] TJ 0 g 0 G [(],)-283(or)-277(T)80(ask)10(on-)] TJ 0 -11.955 Td [(omy)-248([)] TJ 0 1 0 rg 0 1 0 RG [(64)] TJ 0 g 0 G [(]\).)-310(Y)100(et,)-248(T)80(ab)40(.)] TJ 1 0 0 rg 1 0 0 RG [-248(6)] TJ 0 g 0 G [-249(sho)25(ws)-248(that)-248(MTL)-248(methods)-248(display)-249(no)] TJ 0 -11.955 Td [(clear)-304(ranking)-303(in)-304(either)-303(case)-304(\(i.e.)-471(Spearman')55(s)] TJ /F11 9.9626 Tf 182.191 0 Td [<1a>] TJ /F71 9.9626 Tf 8.175 0 Td [(w)10(as)-304(al)10(w)10(ays)] TJ -190.366 -11.955 Td [(indistinguishable)-226(from)-227(0\).)-302(Ignoring)-226(the)-227(lack)-226(of)-227(signi\002cance,)] TJ 0 -11.955 Td [(the)-259(cross-dataset)-259(correlation)-259(w)10(as)-260(still)-259(weak)-259(\()] TJ /F11 9.9626 Tf 176.966 0 Td [<1a>-295(<)] TJ /F8 9.9626 Tf 18.773 0 Td [(0)] TJ /F11 9.9626 Tf 4.982 0 Td [(:)] TJ /F8 9.9626 Tf 2.767 0 Td [(45)] TJ /F71 9.9626 Tf 9.963 0 Td [(\),)-261(and)] TJ -213.451 -11.955 Td [(methods)-403(performance)-404(w)10(as)-403(actually)] TJ /F77 9.9626 Tf 147.112 0 Td [(anti-corr)37(elated)] TJ /F71 9.9626 Tf 64.242 0 Td [(across)] TJ -211.354 -11.956 Td [(tasks)-334(\()] TJ /F11 9.9626 Tf 26.569 0 Td [<1a>] TJ /F71 9.9626 Tf 5.15 0 Td [(=-0.4\),)-355(suggesting)-334(that)-334(the)-333(models)-334(are)-334(indeed)-334(spe-)] TJ -31.719 -11.955 Td [(cialized)-191(to)-192(speci\002c)-191(tasks.)-290(This)-192(anti-correlation)-191(w)10(as)-191(true)-192(e)25(v)15(en)] TJ 0 -11.955 Td [(when)-250(controlling)-250(for)-250(dataset.)] TJ 11.955 -12.992 Td [(Gi)25(v)15(en)-342(that)-341(current)-342(MTL)-342(approaches)-341(do)-342(not)-342(outperform)] TJ -11.955 -11.955 Td [(single-task)-473(baselines,)-529(predicting)-473(dif)25(ferent)-474(mid-l)1(e)25(v)14(e)1(l)-474(cues)] TJ 0 -11.955 Td [(poses)-548(a)-547(challenging)-548(setting)-547(for)-548(MTL.)-547(The)] TJ /F73 9.9626 Tf 188.429 0 Td [(Omnidata)] TJ /F71 9.9626 Tf -188.429 -11.955 Td [(pipeline)-485(pro)15(vides)-486(an)-485(a)20(v)15(enue)-486(to)-485(create)-486(lar)18(ge)-485(and)-486(di)25(v)15(erse)] TJ 0 -11.955 Td [(multi-task)-237(mid-le)25(v)15(el)-237(benchmarks)-237(that)-237(could)-238(more)-237(systemat-)] TJ 0 -11.956 Td [(ically)-250(and)-250(reliably)-250(e)25(v)25(aluate)-250(progress)-250(in)-250(multi-task)-250(learning.)] TJ 0 g 0 G ET 1 0 0 1 308.862 364.255 cm q .50948 0 0 .50948 0 0 cm q 1 0 0 1 2.491 61.668 cm []0 d 0 J 0.398 w 0 0 m 458.732 0 l S Q q 1 0 0 1 2.69 47.123 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q q 1 0 0 1 76.597 47.123 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q 1 0 0 1 -308.862 -364.255 cm BT /F71 9.9626 Tf 467.357 415.682 Td [(Semantic)-250(Se)15(gmentation)] TJ ET q 1 0 0 1 643.47 411.378 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 679.066 415.682 Td [(3D)-250(K)25(e)15(ypoints)] TJ ET q 1 0 0 1 769.885 411.378 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q q 1 0 0 1 385.658 411.179 cm []0 d 0 J 0.398 w 0 0 m 384.426 0 l S Q q 1 0 0 1 311.552 397.032 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 313.744 401.336 Td [(Method)] TJ ET q 1 0 0 1 385.459 397.032 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 405.474 401.336 Td [(Ours)-2909(NYU)-250([)] TJ 0 1 0 rg 0 1 0 RG [(47)] TJ 0 g 0 G [(])-1120(CityScapes.)-250([)] TJ 0 1 0 rg 0 1 0 RG [(54)] TJ 0 g 0 G [(])-400(T)80(ask)10(onomy)-250([)] TJ 0 1 0 rg 0 1 0 RG [(54)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 643.47 397.032 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 662.384 401.336 Td [(Ours)-2079(T)80(as)1(k)10(on)-1(om)1(y)-250([)] TJ 0 1 0 rg 0 1 0 RG [(54)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 769.885 397.032 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q q 1 0 0 1 311.552 382.686 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q q 1 0 0 1 385.459 382.686 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 387.651 386.989 Td [(IoU)-250(\()] TJ /F14 9.9626 Tf 21.3 0 Td [(")] TJ /F71 9.9626 Tf 4.981 0 Td [(\))-400(Rank)] TJ ET q 1 0 0 1 444.457 382.686 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 446.649 386.989 Td [(IoU)-250(\()] TJ /F14 9.9626 Tf 21.3 0 Td [(")] TJ /F71 9.9626 Tf 4.982 0 Td [(\))-400(Rank)] TJ ET q 1 0 0 1 503.456 382.686 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 505.648 386.989 Td [(IoU)-250(\()] TJ /F14 9.9626 Tf 21.3 0 Td [(")] TJ /F71 9.9626 Tf 4.981 0 Td [(\))-972(Rank)] TJ ET q 1 0 0 1 573.851 382.686 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 576.043 386.989 Td [(IoU)-250(\()] TJ /F14 9.9626 Tf 21.3 0 Td [(")] TJ /F71 9.9626 Tf 4.981 0 Td [(\))-933(Rank)] TJ ET q 1 0 0 1 643.47 382.686 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 646.773 386.989 Td [(L1)-250(\()] TJ /F14 9.9626 Tf 16.876 0 Td [(#)] TJ /F71 9.9626 Tf 4.982 0 Td [(\))-511(Rank)] TJ ET q 1 0 0 1 700.267 382.686 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 702.459 386.989 Td [(L1)-250(\()] TJ /F14 9.9626 Tf 16.876 0 Td [(#)] TJ /F71 9.9626 Tf 4.982 0 Td [(\))-1155(Rank)] TJ ET q 1 0 0 1 769.885 382.686 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q q 1 0 0 1 311.353 382.486 cm []0 d 0 J 0.398 w 0 0 m 458.732 0 l S Q q 1 0 0 1 311.353 380.095 cm []0 d 0 J 0.398 w 0 0 m 458.732 0 l S Q q 1 0 0 1 311.552 365.55 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 316.578 369.854 Td [(Single)-250(task)] TJ ET q 1 0 0 1 385.459 365.55 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 391.242 369.854 Td [(85.12)-1566(1)] TJ ET q 1 0 0 1 444.457 365.55 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 450.241 369.854 Td [(90.69)-1566(2)] TJ ET q 1 0 0 1 503.456 365.55 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 511.73 369.854 Td [(65.2)-2388(1)] TJ ET q 1 0 0 1 573.851 365.55 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 582.125 369.854 Td [(43.5)-2349(4)] TJ ET q 1 0 0 1 643.47 365.55 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 645.662 369.854 Td [(0.0439)-1205(4)] TJ ET q 1 0 0 1 700.267 365.55 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 706.329 369.854 Td [(0.23)-2349(1)] TJ ET q 1 0 0 1 769.885 365.55 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q q 1 0 0 1 311.552 351.204 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 316.578 355.508 Td [(MTL)-250(baseline)] TJ ET q 1 0 0 1 385.459 351.204 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 391.242 355.508 Td [(81.82)-1566(3)] TJ ET q 1 0 0 1 444.457 351.204 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 450.241 355.508 Td [(90.63)-1566(3)] TJ ET q 1 0 0 1 503.456 351.204 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 511.73 355.508 Td [(61.5)-2388(4)] TJ ET q 1 0 0 1 573.851 351.204 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 582.125 355.508 Td [(47.8)-2349(1)] TJ ET q 1 0 0 1 643.47 351.204 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 645.662 355.508 Td [(0.0429)-1205(3)] TJ ET q 1 0 0 1 700.267 351.204 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 706.329 355.508 Td [(0.34)-2349(2)] TJ ET q 1 0 0 1 769.885 351.204 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q q 1 0 0 1 311.552 336.858 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 316.578 341.161 Td [(MT)93(AN)-250([)] TJ 0 1 0 rg 0 1 0 RG [(33)] TJ 0 g 0 G [(])] TJ ET q 1 0 0 1 385.459 336.858 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 391.242 341.161 Td [(83.00)-1566(2)] TJ ET q 1 0 0 1 444.457 336.858 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 450.241 341.161 Td [(91.11)-1566(1)] TJ ET q 1 0 0 1 503.456 336.858 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 511.73 341.161 Td [(62.8)-2388(3)] TJ ET q 1 0 0 1 573.851 336.858 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 582.125 341.161 Td [(43.8)-2349(3)] TJ ET q 1 0 0 1 643.47 336.858 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 645.662 341.161 Td [(0.0426)-1205(1)] TJ ET q 1 0 0 1 700.267 336.858 cm []0 d 0 J 0.398 w 0 0 m 0 14.346 l S Q BT /F71 9.9626 Tf 708.82 341.161 Td [(0.4)-2599(3)] TJ 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