Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation

Manipulating objects without grasping them is an essential component of human dexterity, referred to as non-prehensile manipulation. Non-prehensile manipulation may enable more complex interactions with the objects, but also presents challenges in reasoning about the interactions. In this work, we introduce Hybrid Actor-Critic Maps for Manipulation (HACMan), a reinforcement learning approach for 6D non-prehensile manipulation of objects using point cloud observations. HACMan proposes a temporally-abstracted and spatially-grounded object-centric action representation that consists of selecting a contact location from the object point cloud and a set of motion parameters describing how the robot will move after making contact. We modify an existing off-policy RL algorithm to learn in this hybrid discrete-continuous action representation. We evaluate HACMan on a 6D object pose alignment task in both simulation and in the real world. On the hardest version of our task, with randomized initial pose, randomized 6D goals, and diverse object categories, our policy demonstrates strong generalization to unseen object categories without a performance drop, achieving a 79% success rate on non-flat objects. Compared to alternative action representations, HACMan achieves a success rate more than three times higher than the best baseline. With zero-shot sim2real transfer, our policy can successfully manipulate unseen objects in the real world for challenging non-planar goals, using dynamic and contact-rich non-prehensile skills. Videos can be found on the project website: https://hacman-2023.github.io .

DSEC-MOS: Segment Any Moving Object with Moving Ego Vehicle

Moving Object Segmentation (MOS), a crucial task in computer vision, has numerous applications such as surveillance, autonomous driving, and video analytics. Existing datasets for moving object segmentation mainly focus on RGB or Lidar videos, but lack additional event information that can enhance the understanding of dynamic scenes. To address this limitation, we propose a novel dataset, called DSEC-MOS. Our dataset includes frames captured by RGB cameras embedded on moving vehicules and incorporates event data, which provide high temporal resolution and low-latency information about changes in the scenes. To generate accurate segmentation mask annotations for moving objects, we apply the recently emerged large model SAM - Segment Anything Model - with moving object bounding boxes from DSEC-MOD serving as prompts and calibrated RGB frames, then further revise the results. Our DSEC-MOS dataset contains in total 16 sequences (13314 images). To the best of our knowledge, DSEC-MOS is also the first moving object segmentation dataset that includes event camera in autonomous driving. Project Page: https://github.com/ZZY-Zhou/DSEC-MOS.

MDDL: A Framework for Reinforcement Learning-based Position Allocation in Multi-Channel Feed

Nowadays, the mainstream approach in position allocation system is to utilize a reinforcement learning model to allocate appropriate locations for items in various channels and then mix them into the feed. There are two types of data employed to train reinforcement learning (RL) model for position allocation, named strategy data and random data. Strategy data is collected from the current online model, it suffers from an imbalanced distribution of state-action pairs, resulting in severe overestimation problems during training. On the other hand, random data offers a more uniform distribution of state-action pairs, but is challenging to obtain in industrial scenarios as it could negatively impact platform revenue and user experience due to random exploration. As the two types of data have different distributions, designing an effective strategy to leverage both types of data to enhance the efficacy of the RL model training has become a highly challenging problem. In this study, we propose a framework named Multi-Distribution Data Learning (MDDL) to address the challenge of effectively utilizing both strategy and random data for training RL models on mixed multi-distribution data. Specifically, MDDL incorporates a novel imitation learning signal to mitigate overestimation problems in strategy data and maximizes the RL signal for random data to facilitate effective learning. In our experiments, we evaluated the proposed MDDL framework in a real-world position allocation system and demonstrated its superior performance compared to the previous baseline. MDDL has been fully deployed on the Meituan food delivery platform and currently serves over 300 million users.

Reweighted Mixup for Subpopulation Shift

Subpopulation shift exists widely in many real-world applications, which refers to the training and test distributions that contain the same subpopulation groups but with different subpopulation proportions. Ignoring subpopulation shifts may lead to significant performance degradation and fairness concerns. Importance reweighting is a classical and effective way to handle the subpopulation shift. However, recent studies have recognized that most of these approaches fail to improve the performance especially when applied to over-parameterized neural networks which are capable of fitting any training samples. In this work, we propose a simple yet practical framework, called reweighted mixup (RMIX), to mitigate the overfitting issue in over-parameterized models by conducting importance weighting on the ''mixed'' samples. Benefiting from leveraging reweighting in mixup, RMIX allows the model to explore the vicinal space of minority samples more, thereby obtaining more robust model against subpopulation shift. When the subpopulation memberships are unknown, the training-trajectories-based uncertainty estimation is equipped in the proposed RMIX to flexibly characterize the subpopulation distribution. We also provide insightful theoretical analysis to verify that RMIX achieves better generalization bounds over prior works. Further, we conduct extensive empirical studies across a wide range of tasks to validate the effectiveness of the proposed method.

Ring-Rotor: A Novel Retractable Ring-shaped Quadrotor with Aerial Grasping and Transportation Capability

This letter presents a novel and retractable ring-shaped quadrotor called Ring-Rotor that can adjust the vehicle's length and width simultaneously. Unlike other morphing quadrotors with high platform complexity and poor controllability, Ring-Rotor uses only one servo motor for morphing but reduces the largest dimension of the vehicle by approximately 31.4\%. It can guarantee passibility while flying through small spaces in its compact form and energy saving in its standard form. Meanwhile, the vehicle breaks the cross configuration of general quadrotors with four arms connected to the central body and innovates a ring-shaped mechanical structure with spare central space. Based on this, an ingenious whole-body aerial grasping and transportation scheme is designed to carry various shapes of objects without the external manipulator mechanism. Moreover, we exploit a nonlinear model predictive control (NMPC) strategy that uses a time-variant physical parameter model to adapt to the quadrotor morphology. Above mentioned applications are performed in real-world experiments to demonstrate the system's high versatility.

Data-centric Artificial Intelligence: A Survey

Artificial Intelligence (AI) is making a profound impact in almost every domain. A vital enabler of its great success is the availability of abundant and high-quality data for building machine learning models. Recently, the role of data in AI has been significantly magnified, giving rise to the emerging concept of data-centric AI. The attention of researchers and practitioners has gradually shifted from advancing model design to enhancing the quality and quantity of the data. In this survey, we discuss the necessity of data-centric AI, followed by a holistic view of three general data-centric goals (training data development, inference data development, and data maintenance) and the representative methods. We also organize the existing literature from automation and collaboration perspectives, discuss the challenges, and tabulate the benchmarks for various tasks. We believe this is the first comprehensive survey that provides a global view of a spectrum of tasks across various stages of the data lifecycle. We hope it can help the readers efficiently grasp a broad picture of this field, and equip them with the techniques and further research ideas to systematically engineer data for building AI systems. A companion list of data-centric AI resources will be regularly updated on https://github.com/daochenzha/data-centric-AI

A large-scale dataset for end-to-end table recognition in the wild

Table recognition (TR) is one of the research hotspots in pattern recognition, which aims to extract information from tables in an image. Common table recognition tasks include table detection (TD), table structure recognition (TSR) and table content recognition (TCR). TD is to locate tables in the image, TCR recognizes text content, and TSR recognizes spatial ogical structure. Currently, the end-to-end TR in real scenarios, accomplishing the three sub-tasks simultaneously, is yet an unexplored research area. One major factor that inhibits researchers is the lack of a benchmark dataset. To this end, we propose a new large-scale dataset named Table Recognition Set (TabRecSet) with diverse table forms sourcing from multiple scenarios in the wild, providing complete annotation dedicated to end-to-end TR research. It is the largest and first bi-lingual dataset for end-to-end TR, with 38.1K tables in which 20.4K are in English\, and 17.7K are in Chinese. The samples have diverse forms, such as the border-complete and -incomplete table, regular and irregular table (rotated, distorted, etc.). The scenarios are multiple in the wild, varying from scanned to camera-taken images, documents to Excel tables, educational test papers to financial invoices. The annotations are complete, consisting of the table body spatial annotation, cell spatial logical annotation and text content for TD, TSR and TCR, respectively. The spatial annotation utilizes the polygon instead of the bounding box or quadrilateral adopted by most datasets. The polygon spatial annotation is more suitable for irregular tables that are common in wild scenarios. Additionally, we propose a visualized and interactive annotation tool named TableMe to improve the efficiency and quality of table annotation.

IRGen: Generative Modeling for Image Retrieval

While generative modeling has been ubiquitous in natural language processing and computer vision, its application to image retrieval remains unexplored. In this paper, we recast image retrieval as a form of generative modeling by employing a sequence-to-sequence model, contributing to the current unified theme. Our framework, IRGen, is a unified model that enables end-to-end differentiable search, thus achieving superior performance thanks to direct optimization. While developing IRGen we tackle the key technical challenge of converting an image into quite a short sequence of semantic units in order to enable efficient and effective retrieval. Empirical experiments demonstrate that our model yields significant improvement over three commonly used benchmarks, for example, 22.9\% higher than the best baseline method in precision@10 on In-shop dataset with comparable recall@10 score.

NUWA-XL: Diffusion over Diffusion for eXtremely Long Video Generation

In this paper, we propose NUWA-XL, a novel Diffusion over Diffusion architecture for eXtremely Long video generation. Most current work generates long videos segment by segment sequentially, which normally leads to the gap between training on short videos and inferring long videos, and the sequential generation is inefficient. Instead, our approach adopts a ``coarse-to-fine'' process, in which the video can be generated in parallel at the same granularity. A global diffusion model is applied to generate the keyframes across the entire time range, and then local diffusion models recursively fill in the content between nearby frames. This simple yet effective strategy allows us to directly train on long videos (3376 frames) to reduce the training-inference gap, and makes it possible to generate all segments in parallel. To evaluate our model, we build FlintstonesHD dataset, a new benchmark for long video generation. Experiments show that our model not only generates high-quality long videos with both global and local coherence, but also decreases the average inference time from 7.55min to 26s (by 94.26\%) at the same hardware setting when generating 1024 frames. The homepage link is \url{https://msra-nuwa.azurewebsites.net/}

Did You Train on My Dataset? Towards Public Dataset Protection with Clean-Label Backdoor Watermarking

The huge supporting training data on the Internet has been a key factor in the success of deep learning models. However, this abundance of public-available data also raises concerns about the unauthorized exploitation of datasets for commercial purposes, which is forbidden by dataset licenses. In this paper, we propose a backdoor-based watermarking approach that serves as a general framework for safeguarding public-available data. By inserting a small number of watermarking samples into the dataset, our approach enables the learning model to implicitly learn a secret function set by defenders. This hidden function can then be used as a watermark to track down third-party models that use the dataset illegally. Unfortunately, existing backdoor insertion methods often entail adding arbitrary and mislabeled data to the training set, leading to a significant drop in performance and easy detection by anomaly detection algorithms. To overcome this challenge, we introduce a clean-label backdoor watermarking framework that uses imperceptible perturbations to replace mislabeled samples. As a result, the watermarking samples remain consistent with the original labels, making them difficult to detect. Our experiments on text, image, and audio datasets demonstrate that the proposed framework effectively safeguards datasets with minimal impact on original task performance. We also show that adding just 1% of watermarking samples can inject a traceable watermarking function and that our watermarking samples are stealthy and look benign upon visual inspection.