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Michael Black

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

17 papers
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17

NeurIPS Conference 2025 Conference Paper

BEDLAM2.0: Synthetic humans and cameras in motion

  • Joachim Tesch
  • Giorgio Becherini
  • Prerana Achar
  • Anastasios Yiannakidis
  • Muhammed Kocabas
  • Priyanka Patel
  • Michael Black

Inferring 3D human motion from video remains a challenging problem with many applications. While traditional methods estimate the human in image coordinates, many applications require human motion to be estimated in world coordinates. This is particularly challenging when there is both human and camera motion. Progress on this topic has been limited by the lack of rich video data with ground truth human and camera movement. We address this with BEDLAM2. 0, a new dataset that goes beyond the popular BEDLAM dataset in important ways. In addition to introducing more diverse and realistic cameras and camera motions, BEDLAM2. 0 increases diversity and realism of body shape, motions, clothing, hair, and 3D environments. Additionally, it adds shoes, which were missing in BEDLAM. BEDLAM has become a key resource for training 3D human pose and motion regressors today and we show that BEDLAM2. 0 is significantly better, particularly for training methods that estimate humans in world coordinates. We compare state-of-the art methods trained on BEDLAM and BEDLAM2. 0, and find that BEDLAM2. 0 significantly improves accuracy over BEDLAM. For research purposes, we provide the rendered videos, ground truth body parameters, and camera motions. We also provide the 3D assets to which we have rights and links to those from third parties.

NeurIPS Conference 2025 Conference Paper

HairFree: Compositional 2D Head Prior for Text-Driven 360° Bald Texture Synthesis

  • Mirela Ostrek
  • Michael Black
  • Justus Thies

Synthesizing high-quality 3D head textures is crucial for gaming, virtual reality, and digital humans. Achieving seamless 360° textures typically requires expensive multi-view datasets with precise tracking. However, traditional methods struggle without back-view data or precise geometry, especially for human heads, where even minor inconsistencies disrupt realism. We introduce HairFree, an unsupervised texturing framework guided by textual descriptions and 2D diffusion priors, producing high-consistency 360° bald head textures—including non-human skin with fine details—without any texture, back-view, bald, non-human, or synthetic training data. We fine-tune a diffusion prior on a dataset of mostly frontal faces, conditioned on predicted 3D head geometry and face parsing. During inference, HairFree uses precise skin masks and 3D FLAME geometry as input conditioning, ensuring high 3D consistency and alignment. We synthesize the full 360° texture by first generating a frontal RGB image aligned to the 3D FLAME pose and mapping it to UV space. As the virtual camera moves, we inpaint and merge missing regions. A built-in semantic prior enables precise region separation—particularly for isolating and removing hair—allowing seamless integration with various assets like customizable 3D hair, eyeglasses, jewelry, etc. We evaluate HairFree quantitatively and qualitatively, demonstrating its superiority over state-of-the-art 3D head avatar generation methods. https: //hairfree. is. tue. mpg. de/

AAAI Conference 2020 Conference Paper

Chained Representation Cycling: Learning to Estimate 3D Human Pose and Shape by Cycling Between Representations

  • Nadine Rueegg
  • Christoph Lassner
  • Michael Black
  • Konrad Schindler

The goal of many computer vision systems is to transform image pixels into 3D representations. Recent popular models use neural networks to regress directly from pixels to 3D object parameters. Such an approach works well when supervision is available, but in problems like human pose and shape estimation, it is difficult to obtain natural images with 3D ground truth. To go one step further, we propose a new architecture that facilitates unsupervised, or lightly supervised, learning. The idea is to break the problem into a series of transformations between increasingly abstract representations. Each step involves a cycle designed to be learnable without annotated training data, and the chain of cycles delivers the final solution. Specifically, we use 2D body part segments as an intermediate representation that contains enough information to be lifted to 3D, and at the same time is simple enough to be learned in an unsupervised way. We demonstrate the method by learning 3D human pose and shape from un-paired and un-annotated images. We also explore varying amounts of paired data and show that cycling greatly alleviates the need for paired data. While we present results for modeling humans, our formulation is general and can be applied to other vision problems.

NeurIPS Conference 2012 Conference Paper

A Geometric take on Metric Learning

  • Søren Hauberg
  • Oren Freifeld
  • Michael Black

Multi-metric learning techniques learn local metric tensors in different parts of a feature space. With such an approach, even simple classifiers can be competitive with the state-of-the-art because the distance measure locally adapts to the structure of the data. The learned distance measure is, however, non-metric, which has prevented multi-metric learning from generalizing to tasks such as dimensionality reduction and regression in a principled way. We prove that, with appropriate changes, multi-metric learning corresponds to learning the structure of a Riemannian manifold. We then show that this structure gives us a principled way to perform dimensionality reduction and regression according to the learned metrics. Algorithmically, we provide the first practical algorithm for computing geodesics according to the learned metrics, as well as algorithms for computing exponential and logarithmic maps on the Riemannian manifold. Together, these tools let many Euclidean algorithms take advantage of multi-metric learning. We illustrate the approach on regression and dimensionality reduction tasks that involve predicting measurements of the human body from shape data.

NeurIPS Conference 2012 Conference Paper

From Deformations to Parts: Motion-based Segmentation of 3D Objects

  • Soumya Ghosh
  • Matthew Loper
  • Erik Sudderth
  • Michael Black

We develop a method for discovering the parts of an articulated object from aligned meshes capturing various three-dimensional (3D) poses. We adapt the distance dependent Chinese restaurant process (ddCRP) to allow nonparametric discovery of a potentially unbounded number of parts, while simultaneously guaranteeing a spatially connected segmentation. To allow analysis of datasets in which object instances have varying shapes, we model part variability across poses via affine transformations. By placing a matrix normal-inverse-Wishart prior on these affine transformations, we develop a ddCRP Gibbs sampler which tractably marginalizes over transformation uncertainty. Analyzing a dataset of humans captured in dozens of poses, we infer parts which provide quantitatively better motion predictions than conventional clustering methods.

NeurIPS Conference 2010 Conference Paper

Layered image motion with explicit occlusions, temporal consistency, and depth ordering

  • Deqing Sun
  • Erik Sudderth
  • Michael Black

Layered models are a powerful way of describing natural scenes containing smooth surfaces that may overlap and occlude each other. For image motion estimation, such models have a long history but have not achieved the wide use or accuracy of non-layered methods. We present a new probabilistic model of optical flow in layers that addresses many of the shortcomings of previous approaches. In particular, we define a probabilistic graphical model that explicitly captures: 1) occlusions and disocclusions; 2) depth ordering of the layers; 3) temporal consistency of the layer segmentation. Additionally the optical flow in each layer is modeled by a combination of a parametric model and a smooth deviation based on an MRF with a robust spatial prior; the resulting model allows roughness in layers. Finally, a key contribution is the formulation of the layers using an image-dependent hidden field prior based on recent models for static scene segmentation. The method achieves state-of-the-art results on the Middlebury benchmark and produces meaningful scene segmentations as well as detected occlusion regions.

NeurIPS Conference 2010 Conference Paper

Synergies in learning words and their referents

  • Mark Johnson
  • Katherine Demuth
  • Bevan Jones
  • Michael Black

This paper presents Bayesian non-parametric models that simultaneously learn to segment words from phoneme strings and learn the referents of some of those words, and shows that there is a synergistic interaction in the acquisition of these two kinds of linguistic information. The models themselves are novel kinds of Adaptor Grammars that are an extension of an embedding of topic models into PCFGs. These models simultaneously segment phoneme sequences into words and learn the relationship between non-linguistic objects to the words that refer to them. We show (i) that modelling inter-word dependencies not only improves the accuracy of the word segmentation but also of word-object relationships, and (ii) that a model that simultaneously learns word-object relationships and word segmentation segments more accurately than one that just learns word segmentation on its own. We argue that these results support an interactive view of language acquisition that can take advantage of synergies such as these.

NeurIPS Conference 2009 Conference Paper

An Additive Latent Feature Model for Transparent Object Recognition

  • Mario Fritz
  • Gary Bradski
  • Sergey Karayev
  • Trevor Darrell
  • Michael Black

Existing methods for recognition of object instances and categories based on quantized local features can perform poorly when local features exist on transparent surfaces, such as glass or plastic objects. There are characteristic patterns to the local appearance of transparent objects, but they may not be well captured by distances to individual examples or by a local pattern codebook obtained by vector quantization. The appearance of a transparent patch is determined in part by the refraction of a background pattern through a transparent medium: the energy from the background usually dominates the patch appearance. We model transparent local patch appearance using an additive model of latent factors: background factors due to scene content, and factors which capture a local edge energy distribution characteristic of the refraction. We implement our method using a novel LDA-SIFT formulation which performs LDA prior to any vector quantization step; we discover latent topics which are characteristic of particular transparent patches and quantize the SIFT space into transparent visual words according to the latent topic dimensions. No knowledge of the background scene is required at test time; we show examples recognizing transparent glasses in a domestic environment.

NeurIPS Conference 2009 Conference Paper

Explaining human multiple object tracking as resource-constrained approximate inference in a dynamic probabilistic model

  • Ed Vul
  • George Alvarez
  • Joshua Tenenbaum
  • Michael Black

Multiple object tracking is a task commonly used to investigate the architecture of human visual attention. Human participants show a distinctive pattern of successes and failures in tracking experiments that is often attributed to limits on an object system, a tracking module, or other specialized cognitive structures. Here we use a computational analysis of the task of object tracking to ask which human failures arise from cognitive limitations and which are consequences of inevitable perceptual uncertainty in the tracking task. We find that many human performance phenomena, measured through novel behavioral experiments, are naturally produced by the operation of our ideal observer model (a Rao-Blackwelized particle filter). The tradeoff between the speed and number of objects being tracked, however, can only arise from the allocation of a flexible cognitive resource, which can be formalized as either memory or attention.

NeurIPS Conference 2009 Conference Paper

Training Factor Graphs with Reinforcement Learning for Efficient MAP Inference

  • Khashayar Rohanimanesh
  • Sameer Singh
  • Andrew McCallum
  • Michael Black

Large, relational factor graphs with structure defined by first-order logic or other languages give rise to notoriously difficult inference problems. Because unrolling the structure necessary to represent distributions over all hypotheses has exponential blow-up, solutions are often derived from MCMC. However, because of limitations in the design and parameterization of the jump function, these sampling-based methods suffer from local minima|the system must transition through lower-scoring configurations before arriving at a better MAP solution. This paper presents a new method of explicitly selecting fruitful downward jumps by leveraging reinforcement learning (RL). Rather than setting parameters to maximize the likelihood of the training data, parameters of the factor graph are treated as a log-linear function approximator and learned with temporal difference (TD); MAP inference is performed by executing the resulting policy on held out test data. Our method allows efficient gradient updates since only factors in the neighborhood of variables affected by an action need to be computed|we bypass the need to compute marginals entirely. Our method provides dramatic empirical success, producing new state-of-the-art results on a complex joint model of ontology alignment, with a 48\% reduction in error over state-of-the-art in that domain.

NeurIPS Conference 2007 Conference Paper

A Bayesian Framework for Cross-Situational Word-Learning

  • Noah Goodman
  • Joshua Tenenbaum
  • Michael Black

For infants, early word learning is a chicken-and-egg problem. One way to learn a word is to observe that it co-occurs with a particular referent across different situations. Another way is to use the social context of an utterance to infer the in- tended referent of a word. Here we present a Bayesian model of cross-situational word learning, and an extension of this model that also learns which social cues are relevant to determining reference. We test our model on a small corpus of mother-infant interaction and find it performs better than competing models. Fi- nally, we show that our model accounts for experimental phenomena including mutual exclusivity, fast-mapping, and generalization from social cues. To understand the difficulty of an infant word-learner, imagine walking down the street with a friend who suddenly says “dax blicket philbin na fivy! ” while at the same time wagging her elbow. If you knew any of these words you might infer from the syntax of her sentence that blicket is a novel noun, and hence the name of a novel object. At the same time, if you knew that this friend indicated her attention by wagging her elbow at objects, you might infer that she intends to refer to an object in a nearby show window. On the other hand if you already knew that “blicket” meant the object in the window, you might be able to infer these elements of syntax and social cues. Thus, the problem of early word-learning is a classic chicken-and-egg puzzle: in order to learn word meanings, learners must use their knowledge of the rest of language (including rules of syntax, parts of speech, and other word meanings) as well as their knowledge of social situations. But in order to learn about the facts of their language they must first learn some words, and in order to determine which cues matter for establishing reference (for instance, pointing and looking at an object but normally not waggling your elbow) they must first have a way to know the intended referent in some situations. For theories of language acquisition, there are two common ways out of this dilemma. The first involves positing a wide range of innate structures which determine the syntax and categories of a language and which social cues are informative. (Though even when all of these elements are innately determined using them to learn a language from evidence may not be trivial [1]. ) The other alternative involves bootstrapping: learning some words, then using those words to learn how to learn more. This paper gives a proposal for the second alternative. We first present a Bayesian model of how learners could use a statistical strategy—cross-situational word-learning—to learn how words map to objects, independent of syntactic and social cues. We then extend this model to a true bootstrapping situation: using social cues to learn words while using words to learn social cues. Finally, we examine several important phenomena in word learning: mutual exclusivity (the tendency to assign novel words to novel referents), fast-mapping (the ability to assign a novel word in a linguistic context to a novel referent after only a single use), and social generalization (the ability to use social context to learn the referent of a novel word). Without adding additional specialized machinery, we show how these can be explained within our model as the result of domain-general probabilistic inference mechanisms operating over the linguistic domain. 1 Figure 1: Graphical model de- scribing the generation of words (Ws) from an intention (Is) and lexicon ((cid: 96)), and intention from the objects present in a situa- tion (Os). The plate indicates multiple copies of the model for different situation/utterance pairs (s). Dotted portions indicate ad- ditions to include the generation of social cues Ss from intentions.

NeurIPS Conference 2007 Conference Paper

Combined discriminative and generative articulated pose and non-rigid shape estimation

  • Leonid Sigal
  • Alexandru Balan
  • Michael Black

Estimation of three-dimensional articulated human pose and motion from images is a central problem in computer vision. Much of the previous work has been limited by the use of crude generative models of humans represented as articu- lated collections of simple parts such as cylinders. Automatic initialization of such models has proved difficult and most approaches assume that the size and shape of the body parts are known a priori. In this paper we propose a method for automatically recovering a detailed parametric model of non-rigid body shape and pose from monocular imagery. Specifically, we represent the body using a param- eterized triangulated mesh model that is learned from a database of human range scans. We demonstrate a discriminative method to directly recover the model pa- rameters from monocular images using a conditional mixture of kernel regressors. This predicted pose and shape are used to initialize a generative model for more detailed pose and shape estimation. The resulting approach allows fully automatic pose and shape recovery from monocular and multi-camera imagery. Experimen- tal results show that our method is capable of robustly recovering articulated pose, shape and biometric measurements (e. g. height, weight, etc. ) in both calibrated and uncalibrated camera environments.

NeurIPS Conference 2006 Conference Paper

Nonlinear physically-based models for decoding motor-cortical population activity

  • Gregory Shakhnarovich
  • Sung-Phil Kim
  • Michael Black

Neural motor prostheses (NMPs) require the accurate decoding of motor cortical population activity for the control of an artificial motor system. Previous work on cortical decoding for NMPs has focused on the recovery of hand kinematics. Human NMPs however may require the control of computer cursors or robotic devices with very different physical and dynamical properties. Here we show that the firing rates of cells in the primary motor cortex of non-human primates can be used to control the parameters of an artificial physical system exhibiting realistic dynamics. The model represents 2D hand motion in terms of a point mass connected to a system of idealized springs. The nonlinear spring coefficients are estimated from the firing rates of neurons in the motor cortex. We evaluate linear and a nonlinear decoding algorithms using neural recordings from two monkeys performing two different tasks. We found that the decoded spring coefficients produced accurate hand trajectories compared with state-of-the-art methods for direct decoding of hand kinematics. Furthermore, using a physically-based system produced decoded movements that were more “natural” in that their frequency spectrum more closely matched that of natural hand movements.

NeurIPS Conference 2005 Conference Paper

Modeling Neural Population Spiking Activity with Gibbs Distributions

  • Frank Wood
  • Stefan Roth
  • Michael Black

Probabilistic modeling of correlated neural population firing activity is central to understanding the neural code and building practical decoding algorithms. No parametric models currently exist for modeling multivariate correlated neural data and the high dimensional nature of the data makes fully non-parametric methods impractical. To address these problems we propose an energy-based model in which the joint probability of neural activity is represented using learned functions of the 1D marginal histograms of the data. The parameters of the model are learned using contrastive divergence and an optimization procedure for finding appropriate marginal directions. We evaluate the method using real data recorded from a population of motor cortical neurons. In particular, we model the joint probability of population spiking times and 2D hand position and show that the likelihood of test data under our model is significantly higher than under other models. These results suggest that our model captures correlations in the firing activity. Our rich probabilistic model of neural population activity is a step towards both measurement of the importance of correlations in neural coding and improved decoding of population activity.

NeurIPS Conference 2003 Conference Paper

Attractive People: Assembling Loose-Limbed Models using Non-parametric Belief Propagation

  • Leonid Sigal
  • Michael Isard
  • Benjamin Sigelman
  • Michael Black

The detection and pose estimation of people in images and video is made challenging by the variability of human appearance, the complexity of natural scenes, and the high dimensionality of articulated body mod- els. To cope with these problems we represent the 3D human body as a graphical model in which the relationships between the body parts are represented by conditional probability distributions. We formulate the pose estimation problem as one of probabilistic inference over a graphi- cal model where the random variables correspond to the individual limb parameters (position and orientation). Because the limbs are described by 6-dimensional vectors encoding pose in 3-space, discretization is im- practical and the random variables in our model must be continuous- valued. To approximate belief propagation in such a graph we exploit a recently introduced generalization of the particle filter. This framework facilitates the automatic initialization of the body-model from low level cues and is robust to occlusion of body parts and scene clutter.

NeurIPS Conference 2001 Conference Paper

Probabilistic Inference of Hand Motion from Neural Activity in Motor Cortex

  • Yun Gao
  • Michael Black
  • Elie Bienenstock
  • Shy Shoham
  • John Donoghue

Statistical learning and probabilistic inference techniques are used to in- fer the hand position of a subject from multi-electrode recordings of neu- ral activity in motor cortex. First, an array of electrodes provides train- ing data of neural firing conditioned on hand kinematics. We learn a non- parametric representation of this firing activity using a Bayesian model and rigorously compare it with previous models using cross-validation. Second, we infer a posterior probability distribution over hand motion conditioned on a sequence of neural test data using Bayesian inference. The learned firing models of multiple cells are used to define a non- Gaussian likelihood term which is combined with a prior probability for the kinematics. A particle filtering method is used to represent, update, and propagate the posterior distribution over time. The approach is com- pared with traditional linear filtering methods; the results suggest that it may be appropriate for neural prosthetic applications.

NeurIPS Conference 2000 Conference Paper

Learning and Tracking Cyclic Human Motion

  • Dirk Ormoneit
  • Hedvig Sidenbladh
  • Michael Black
  • Trevor Hastie

We present methods for learning and tracking human motion in video. We estimate a statistical model of typical activities from a large set of 3D periodic human motion data by segmenting these data automatically into "cycles". Then the mean and the princi(cid: 173) pal components of the cycles are computed using a new algorithm that accounts for missing information and enforces smooth tran(cid: 173) sitions between cycles. The learned temporal model provides a prior probability distribution over human motions that can be used in a Bayesian framework for tracking human subjects in complex monocular video sequences and recovering their 3D motion.

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