Interactive Anomaly Detection for Articulated Objects via Motion Anticipation

Hakan Bilen (University of Edinburgh) · Ankan Bhunia (University of Edinburgh) · Changjian Li (University of Edinburgh, University of Edinburgh)

anomaly detection methodsanticipation learningarticulated objects benchmark developmentfunctional anomaliesgeneralization capabilityinference modelinteraction modelinginteractive anomaly detectionmotion comparisonnormal motion predictionobject manipulationpartnet-iadpassive visual observationssequence generationvision integration

This paper presents a novel problem, interactive anomaly detection (AD) for articulated objects, and introduces a tailored solution that detects functional anomalies by integrating vision, interaction, and anticipation. Unlike traditional AD methods that rely on passive visual observations, our approach actively manipulates objects to reveal anomalies that would otherwise remain hidden. Our method learns to generate a sequence of actions to interact exclusively with normal objects and to anticipate the resulting normal motion. During inference, the model applies predicted actions to the object and compares the observed motion with the anticipated motion to detect anomalies. Additionally, we introduce a new benchmark, PartNet-IAD, for interactive AD, which includes articulated objects with realistic functional anomalies. Experiments show strong generalization to detect anomalies in both seen and unseen object categories. Code and dataset will be released.