Closed-Loop Visuomotor Control with Generative Expectation for Robotic Manipulation

Despite significant progress in robotics and embodied AI in recent years, deploying robots for long-horizon tasks remains a great challenge. Majority of prior arts adhere to an open-loop philosophy and lack real-time feedback, leading to error accumulation and undesirable robustness. A handful of approaches have endeavored to establish feedback mechanisms leveraging pixel-level differences or pre-trained visual representations, yet their efficacy and adaptability have been found to be constrained. Inspired by classic closed-loop control systems, we propose CLOVER, a closed-loop visuomotor control framework that incorporates feedback mechanisms to improve adaptive robotic control. CLOVER consists of a text-conditioned video diffusion model for generating visual plans as reference inputs, a measurable embedding space for accurate error quantification, and a feedback-driven controller that refines actions from feedback and initiates replans as needed. Our framework exhibits notable advancement in real-world robotic tasks and achieves state-of-the-art on CALVIN benchmark, improving by 8% over previous open-loop counterparts. Code and checkpoints are maintained at https://github.com/OpenDriveLab/CLOVER.

SGFormer: Single-Layer Graph Transformers with Approximation-Free Linear Complexity

Learning representations on large graphs is a long-standing challenge due to the inter-dependence nature. Transformers recently have shown promising performance on small graphs thanks to its global attention for capturing all-pair interactions beyond observed structures. Existing approaches tend to inherit the spirit of Transformers in language and vision tasks, and embrace complicated architectures by stacking deep attention-based propagation layers. In this paper, we attempt to evaluate the necessity of adopting multi-layer attentions in Transformers on graphs, which considerably restricts the efficiency. Specifically, we analyze a generic hybrid propagation layer, comprised of all-pair attention and graph-based propagation, and show that multi-layer propagation can be reduced to one-layer propagation, with the same capability for representation learning. It suggests a new technical path for building powerful and efficient Transformers on graphs, particularly through simplifying model architectures without sacrificing expressiveness. As exemplified by this work, we propose a Simplified Single-layer Graph Transformers (SGFormer), whose main component is a single-layer global attention that scales linearly w.r.t. graph sizes and requires none of any approximation for accommodating all-pair interactions. Empirically, SGFormer successfully scales to the web-scale graph ogbn-papers100M, yielding orders-of-magnitude inference acceleration over peer Transformers on medium-sized graphs, and demonstrates competitiveness with limited labeled data.

Leveraging Hallucinations to Reduce Manual Prompt Dependency in Promptable Segmentation

Promptable segmentation typically requires instance-specific manual prompts to guide the segmentation of each desired object. To minimize such a need, task-generic promptable segmentation has been introduced, which employs a single task-generic prompt to segment various images of different objects in the same task. Current methods use Multimodal Large Language Models (MLLMs) to reason detailed instance-specific prompts from a task-generic prompt for improving segmentation accuracy. The effectiveness of this segmentation heavily depends on the precision of these derived prompts. However, MLLMs often suffer hallucinations during reasoning, resulting in inaccurate prompting. While existing methods focus on eliminating hallucinations to improve a model, we argue that MLLM hallucinations can reveal valuable contextual insights when leveraged correctly, as they represent pre-trained large-scale knowledge beyond individual images. In this paper, we utilize hallucinations to mine task-related information from images and verify its accuracy for enhancing precision of the generated prompts. Specifically, we introduce an iterative Prompt-Mask Cycle generation framework (ProMaC) with a prompt generator and a mask generator.The prompt generator uses a multi-scale chain of thought prompting, initially exploring hallucinations for extracting extended contextual knowledge on a test image.These hallucinations are then reduced to formulate precise instance-specific prompts, directing the mask generator to produce masks that are consistent with task semantics by mask semantic alignment. The generated masks iteratively induce the prompt generator to focus more on task-relevant image areas and reduce irrelevant hallucinations, resulting jointly in better prompts and masks. Experiments on 5 benchmarks demonstrate the effectiveness of ProMaC. Code given in https://lwpyh.github.io/ProMaC/.

Not All Samples Should Be Utilized Equally: Towards Understanding and Improving Dataset Distillation

Dataset Distillation (DD) aims to synthesize a small dataset capable of performing comparably to the original dataset. Despite the success of numerous DD methods, theoretical exploration of this area remains unaddressed. In this paper, we take an initial step towards understanding various matching-based DD methods from the perspective of sample difficulty. We begin by empirically examining sample difficulty, measured by gradient norm, and observe that different matching-based methods roughly correspond to specific difficulty tendencies. We then extend the neural scaling laws of data pruning to DD to theoretically explain these matching-based methods. Our findings suggest that prioritizing the synthesis of easier samples from the original dataset can enhance the quality of distilled datasets, especially in low IPC (image-per-class) settings. Based on our empirical observations and theoretical analysis, we introduce the Sample Difficulty Correction (SDC) approach, designed to predominantly generate easier samples to achieve higher dataset quality. Our SDC can be seamlessly integrated into existing methods as a plugin with minimal code adjustments. Experimental results demonstrate that adding SDC generates higher-quality distilled datasets across 7 distillation methods and 6 datasets.

PCP-MAE: Learning to Predict Centers for Point Masked Autoencoders

Masked autoencoder has been widely explored in point cloud self-supervised learning, whereby the point cloud is generally divided into visible and masked parts. These methods typically include an encoder accepting visible patches (normalized) and corresponding patch centers (position) as input, with the decoder accepting the output of the encoder and the centers (position) of the masked parts to reconstruct each point in the masked patches. Then, the pre-trained encoders are used for downstream tasks. In this paper, we show a motivating empirical result that when directly feeding the centers of masked patches to the decoder without information from the encoder, it still reconstructs well. In other words, the centers of patches are important and the reconstruction objective does not necessarily rely on representations of the encoder, thus preventing the encoder from learning semantic representations. Based on this key observation, we propose a simple yet effective method, i.e., learning to Predict Centers for Point Masked AutoEncoders (PCP-MAE) which guides the model to learn to predict the significant centers and use the predicted centers to replace the directly provided centers. Specifically, we propose a Predicting Center Module (PCM) that shares parameters with the original encoder with extra cross-attention to predict centers. Our method is of high pre-training efficiency compared to other alternatives and achieves great improvement over Point-MAE, particularly outperforming it by 5.50%, 6.03%, and 5.17% on three variants of ScanObjectNN. The code will be made publicly available.

Re-TASK: Revisiting LLM Tasks from Capability, Skill, and Knowledge Perspectives

As large language models (LLMs) continue to scale, their enhanced performance often proves insufficient for solving domain-specific tasks. Systematically analyzing their failures and effectively enhancing their performance remain significant challenges. This paper introduces the Re-TASK framework, a novel theoretical model that Revisits LLM Tasks from cApability, Skill, Knowledge perspectives, guided by the principles of Bloom's Taxonomy and Knowledge Space Theory. The Re-TASK framework provides a systematic methodology to deepen our understanding, evaluation, and enhancement of LLMs for domain-specific tasks. It explores the interplay among an LLM's capabilities, the knowledge it processes, and the skills it applies, elucidating how these elements are interconnected and impact task performance. Our application of the Re-TASK framework reveals that many failures in domain-specific tasks can be attributed to insufficient knowledge or inadequate skill adaptation. With this insight, we propose structured strategies for enhancing LLMs through targeted knowledge injection and skill adaptation. Specifically, we identify key capability items associated with tasks and employ a deliberately designed prompting strategy to enhance task performance, thereby reducing the need for extensive fine-tuning. Alternatively, we fine-tune the LLM using capability-specific instructions, further validating the efficacy of our framework. Experimental results confirm the framework's effectiveness, demonstrating substantial improvements in both the performance and applicability of LLMs.

FlatFusion: Delving into Details of Sparse Transformer-based Camera-LiDAR Fusion for Autonomous Driving

The integration of data from diverse sensor modalities (e.g., camera and LiDAR) constitutes a prevalent methodology within the ambit of autonomous driving scenarios. Recent advancements in efficient point cloud transformers have underscored the efficacy of integrating information in sparse formats. When it comes to fusion, since image patches are dense in pixel space with ambiguous depth, it necessitates additional design considerations for effective fusion. In this paper, we conduct a comprehensive exploration of design choices for Transformer-based sparse cameraLiDAR fusion. This investigation encompasses strategies for image-to-3D and LiDAR-to-2D mapping, attention neighbor grouping, single modal tokenizer, and micro-structure of Transformer. By amalgamating the most effective principles uncovered through our investigation, we introduce FlatFusion, a carefully designed framework for sparse camera-LiDAR fusion. Notably, FlatFusion significantly outperforms state-of-the-art sparse Transformer-based methods, including UniTR, CMT, and SparseFusion, achieving 73.7 NDS on the nuScenes validation set with 10.1 FPS with PyTorch.

LinSATNet: The Positive Linear Satisfiability Neural Networks

Encoding constraints into neural networks is attractive. This paper studies how to introduce the popular positive linear satisfiability to neural networks. We propose the first differentiable satisfiability layer based on an extension of the classic Sinkhorn algorithm for jointly encoding multiple sets of marginal distributions. We further theoretically characterize the convergence property of the Sinkhorn algorithm for multiple marginals. In contrast to the sequential decision e.g.\ reinforcement learning-based solvers, we showcase our technique in solving constrained (specifically satisfiability) problems by one-shot neural networks, including i) a neural routing solver learned without supervision of optimal solutions; ii) a partial graph matching network handling graphs with unmatchable outliers on both sides; iii) a predictive network for financial portfolios with continuous constraints. To our knowledge, there exists no one-shot neural solver for these scenarios when they are formulated as satisfiability problems. Source code is available at https://github.com/Thinklab-SJTU/LinSATNet

GeoMix: Towards Geometry-Aware Data Augmentation

Mixup has shown considerable success in mitigating the challenges posed by limited labeled data in image classification. By synthesizing samples through the interpolation of features and labels, Mixup effectively addresses the issue of data scarcity. However, it has rarely been explored in graph learning tasks due to the irregularity and connectivity of graph data. Specifically, in node classification tasks, Mixup presents a challenge in creating connections for synthetic data. In this paper, we propose Geometric Mixup (GeoMix), a simple and interpretable Mixup approach leveraging in-place graph editing. It effectively utilizes geometry information to interpolate features and labels with those from the nearby neighborhood, generating synthetic nodes and establishing connections for them. We conduct theoretical analysis to elucidate the rationale behind employing geometry information for node Mixup, emphasizing the significance of locality enhancement-a critical aspect of our method's design. Extensive experiments demonstrate that our lightweight Geometric Mixup achieves state-of-the-art results on a wide variety of standard datasets with limited labeled data. Furthermore, it significantly improves the generalization capability of underlying GNNs across various challenging out-of-distribution generalization tasks. Our code is available at https://github.com/WtaoZhao/geomix.

Decentralized Transformers with Centralized Aggregation are Sample-Efficient Multi-Agent World Models

Learning a world model for model-free Reinforcement Learning (RL) agents can significantly improve the sample efficiency by learning policies in imagination. However, building a world model for Multi-Agent RL (MARL) can be particularly challenging due to the scalability issue in a centralized architecture arising from a large number of agents, and also the non-stationarity issue in a decentralized architecture stemming from the inter-dependency among agents. To address both challenges, we propose a novel world model for MARL that learns decentralized local dynamics for scalability, combined with a centralized representation aggregation from all agents. We cast the dynamics learning as an auto-regressive sequence modeling problem over discrete tokens by leveraging the expressive Transformer architecture, in order to model complex local dynamics across different agents and provide accurate and consistent long-term imaginations. As the first pioneering Transformer-based world model for multi-agent systems, we introduce a Perceiver Transformer as an effective solution to enable centralized representation aggregation within this context. Results on Starcraft Multi-Agent Challenge (SMAC) show that it outperforms strong model-free approaches and existing model-based methods in both sample efficiency and overall performance.