Towards Learning a Generalist Model for Embodied Navigation

Building a generalist agent that can interact with the world is the intriguing target of AI systems, thus spurring the research for embodied navigation, where an agent is required to navigate according to instructions or respond to queries. Despite the major progress attained, previous works primarily focus on task-specific agents and lack generalizability to unseen scenarios. Recently, LLMs have presented remarkable capabilities across various fields, and provided a promising opportunity for embodied navigation. Drawing on this, we propose the first generalist model for embodied navigation, NaviLLM. It adapts LLMs to embodied navigation by introducing schema-based instruction. The schema-based instruction flexibly casts various tasks into generation problems, thereby unifying a wide range of tasks. This approach allows us to integrate diverse data sources from various datasets into the training, equipping NaviLLM with a wide range of capabilities required by embodied navigation. We conduct extensive experiments to evaluate the performance and generalizability of our model. The experimental results demonstrate that our unified model achieves state-of-the-art performance on CVDN, SOON, and ScanQA. Specifically, it surpasses the previous stats-of-the-art method by a significant margin of 29% in goal progress on CVDN. Moreover, our model also demonstrates strong generalizability and presents impressive results on unseen tasks, e.g., embodied question answering and 3D captioning.

PRED: Pre-training via Semantic Rendering on LiDAR Point Clouds

Pre-training is crucial in 3D-related fields such as autonomous driving where point cloud annotation is costly and challenging. Many recent studies on point cloud pre-training, however, have overlooked the issue of incompleteness, where only a fraction of the points are captured by LiDAR, leading to ambiguity during the training phase. On the other hand, images offer more comprehensive information and richer semantics that can bolster point cloud encoders in addressing the incompleteness issue inherent in point clouds. Yet, incorporating images into point cloud pre-training presents its own challenges due to occlusions, potentially causing misalignments between points and pixels. In this work, we propose PRED, a novel image-assisted pre-training framework for outdoor point clouds in an occlusion-aware manner. The main ingredient of our framework is a Birds-Eye-View (BEV) feature map conditioned semantic rendering, leveraging the semantics of images for supervision through neural rendering. We further enhance our model's performance by incorporating point-wise masking with a high mask ratio (95%). Extensive experiments demonstrate PRED's superiority over prior point cloud pre-training methods, providing significant improvements on various large-scale datasets for 3D perception tasks. Codes will be available at https://github.com/PRED4pc/PRED.

Mixed-Variable Global Sensitivity Analysis For Knowledge Discovery And Efficient Combinatorial Materials Design

Global Sensitivity Analysis (GSA) is the study of the influence of any given inputs on the outputs of a model. In the context of engineering design, GSA has been widely used to understand both individual and collective contributions of design variables on the design objectives. So far, global sensitivity studies have often been limited to design spaces with only quantitative (numerical) design variables. However, many engineering systems also contain, if not only, qualitative (categorical) design variables in addition to quantitative design variables. In this paper, we integrate Latent Variable Gaussian Process (LVGP) with Sobol' analysis to develop the first metamodel-based mixed-variable GSA method. Through numerical case studies, we validate and demonstrate the effectiveness of our proposed method for mixed-variable problems. Furthermore, while the proposed GSA method is general enough to benefit various engineering design applications, we integrate it with multi-objective Bayesian optimization (BO) to create a sensitivity-aware design framework in accelerating the Pareto front design exploration for metal-organic framework (MOF) materials with many-level combinatorial design spaces. Although MOFs are constructed only from qualitative variables that are notoriously difficult to design, our method can utilize sensitivity analysis to navigate the optimization in the many-level large combinatorial design space, greatly expediting the exploration of novel MOF candidates.

A Latent Variable Approach for Non-Hierarchical Multi-Fidelity Adaptive Sampling

Multi-fidelity (MF) methods are gaining popularity for enhancing surrogate modeling and design optimization by incorporating data from various low-fidelity (LF) models. While most existing MF methods assume a fixed dataset, adaptive sampling methods that dynamically allocate resources among fidelity models can achieve higher efficiency in the exploring and exploiting the design space. However, most existing MF methods rely on the hierarchical assumption of fidelity levels or fail to capture the intercorrelation between multiple fidelity levels and utilize it to quantify the value of the future samples and navigate the adaptive sampling. To address this hurdle, we propose a framework hinged on a latent embedding for different fidelity models and the associated pre-posterior analysis to explicitly utilize their correlation for adaptive sampling. In this framework, each infill sampling iteration includes two steps: We first identify the location of interest with the greatest potential improvement using the high-fidelity (HF) model, then we search for the next sample across all fidelity levels that maximize the improvement per unit cost at the location identified in the first step. This is made possible by a single Latent Variable Gaussian Process (LVGP) model that maps different fidelity models into an interpretable latent space to capture their correlations without assuming hierarchical fidelity levels. The LVGP enables us to assess how LF sampling candidates will affect HF response with pre-posterior analysis and determine the next sample with the best benefit-to-cost ratio. Through test cases, we demonstrate that the proposed method outperforms the benchmark methods in both MF global fitting (GF) and Bayesian Optimization (BO) problems in convergence rate and robustness. Moreover, the method offers the flexibility to switch between GF and BO by simply changing the acquisition function.

CORE: Common Random Reconstruction for Distributed Optimization with Provable Low Communication Complexity

With distributed machine learning being a prominent technique for large-scale machine learning tasks, communication complexity has become a major bottleneck for speeding up training and scaling up machine numbers. In this paper, we propose a new technique named Common randOm REconstruction(CORE), which can be used to compress the information transmitted between machines in order to reduce communication complexity without other strict conditions. Especially, our technique CORE projects the vector-valued information to a low-dimensional one through common random vectors and reconstructs the information with the same random noises after communication. We apply CORE to two distributed tasks, respectively convex optimization on linear models and generic non-convex optimization, and design new distributed algorithms, which achieve provably lower communication complexities. For example, we show for linear models CORE-based algorithm can encode the gradient vector to $\mathcal{O}(1)$-bits (against $\mathcal{O}(d)$), with the convergence rate not worse, preceding the existing results.

VL-PET: Vision-and-Language Parameter-Efficient Tuning via Granularity Control

As the model size of pre-trained language models (PLMs) grows rapidly, full fine-tuning becomes prohibitively expensive for model training and storage. In vision-and-language (VL), parameter-efficient tuning (PET) techniques are proposed to integrate modular modifications (e.g., Adapter and LoRA) into encoder-decoder PLMs. By tuning a small set of trainable parameters, these techniques perform on par with full fine-tuning. However, excessive modular modifications and neglecting the functionality gap between the encoders and decoders can lead to performance degradation, while existing PET techniques (e.g., VL-Adapter) overlook these critical issues. In this paper, we propose a Vision-and-Language Parameter-Efficient Tuning (VL-PET) framework to impose effective control over modular modifications via a novel granularity-controlled mechanism. Considering different granularity-controlled matrices generated by this mechanism, a variety of model-agnostic VL-PET modules can be instantiated from our framework for better efficiency and effectiveness trade-offs. We further propose lightweight PET module designs to enhance VL alignment and modeling for the encoders and maintain text generation for the decoders. Extensive experiments conducted on four image-text tasks and four video-text tasks demonstrate the efficiency, effectiveness and transferability of our VL-PET framework. In particular, our VL-PET-large with lightweight PET module designs significantly outperforms VL-Adapter by 2.92% (3.41%) and LoRA by 3.37% (7.03%) with BART-base (T5-base) on image-text tasks. Furthermore, we validate the enhanced effect of employing our VL-PET designs on existing PET techniques, enabling them to achieve significant performance improvements. Our code is available at https://github.com/HenryHZY/VL-PET.

UniTR: A Unified and Efficient Multi-Modal Transformer for Bird's-Eye-View Representation

Jointly processing information from multiple sensors is crucial to achieving accurate and robust perception for reliable autonomous driving systems. However, current 3D perception research follows a modality-specific paradigm, leading to additional computation overheads and inefficient collaboration between different sensor data. In this paper, we present an efficient multi-modal backbone for outdoor 3D perception named UniTR, which processes a variety of modalities with unified modeling and shared parameters. Unlike previous works, UniTR introduces a modality-agnostic transformer encoder to handle these view-discrepant sensor data for parallel modal-wise representation learning and automatic cross-modal interaction without additional fusion steps. More importantly, to make full use of these complementary sensor types, we present a novel multi-modal integration strategy by both considering semantic-abundant 2D perspective and geometry-aware 3D sparse neighborhood relations. UniTR is also a fundamentally task-agnostic backbone that naturally supports different 3D perception tasks. It sets a new state-of-the-art performance on the nuScenes benchmark, achieving +1.1 NDS higher for 3D object detection and +12.0 higher mIoU for BEV map segmentation with lower inference latency. Code will be available at https://github.com/Haiyang-W/UniTR .

GRU-D-Weibull: A Novel Real-Time Individualized Endpoint Prediction

Accurate prediction models for individual-level endpoints and time-to-endpoints are crucial in clinical practice. In this study, we propose a novel approach, GRU-D-Weibull, which combines gated recurrent units with decay (GRU-D) to model the Weibull distribution. Our method enables real-time individualized endpoint prediction and population-level risk management. Using a cohort of 6,879 patients with stage 4 chronic kidney disease (CKD4), we evaluated the performance of GRU-D-Weibull in endpoint prediction. The C-index of GRU-D-Weibull was ~0.7 at the index date and increased to ~0.77 after 4.3 years of follow-up, similar to random survival forest. Our approach achieved an absolute L1-loss of ~1.1 years (SD 0.95) at the CKD4 index date and a minimum of ~0.45 years (SD0.3) at 4 years of follow-up, outperforming competing methods significantly. GRU-D-Weibull consistently constrained the predicted survival probability at the time of an event within a smaller and more fixed range compared to other models throughout the follow-up period. We observed significant correlations between the error in point estimates and missing proportions of input features at the index date (correlations from ~0.1 to ~0.3), which diminished within 1 year as more data became available. By post-training recalibration, we successfully aligned the predicted and observed survival probabilities across multiple prediction horizons at different time points during follow-up. Our findings demonstrate the considerable potential of GRU-D-Weibull as the next-generation architecture for endpoint risk management, capable of generating various endpoint estimates for real-time monitoring using clinical data.

Physics-aware differentiable design of magnetically actuated kirigami for shape morphing

Shape morphing that transforms morphologies in response to stimuli is crucial for future multifunctional systems. While kirigami holds great promise in enhancing shape-morphing, existing designs primarily focus on kinematics and overlook the underlying physics. This study introduces a differentiable inverse design framework that considers the physical interplay between geometry, materials, and stimuli of active kirigami, made by soft material embedded with magnetic particles, to realize target shape-morphing upon magnetic excitation. We achieve this by combining differentiable kinematics and energy models into a constrained optimization, simultaneously designing the cuts and magnetization orientations to ensure kinematic and physical feasibility. Complex kirigami designs are obtained automatically with unparallel efficiency, which can be remotely controlled to morph into intricate target shapes and even multiple states. The proposed framework can be extended to accommodate various active systems, bridging geometry and physics to push the frontiers in shape-morphing applications, like flexible electronics and minimally invasive surgery.

CLEVA: Chinese Language Models EVAluation Platform

With the continuous emergence of Chinese Large Language Models (LLMs), how to evaluate a model's capabilities has become an increasingly significant issue. The absence of a comprehensive Chinese benchmark that thoroughly assesses a model's performance, the unstandardized and incomparable prompting procedure, and the prevalent risk of contamination pose major challenges in the current evaluation of Chinese LLMs. We present CLEVA, a user-friendly platform crafted to holistically evaluate Chinese LLMs. Our platform employs a standardized workflow to assess LLMs' performance across various dimensions, regularly updating a competitive leaderboard. To alleviate contamination, CLEVA curates a significant proportion of new data and develops a sampling strategy that guarantees a unique subset for each leaderboard round. Empowered by an easy-to-use interface that requires just a few mouse clicks and a model API, users can conduct a thorough evaluation with minimal coding. Large-scale experiments featuring 23 influential Chinese LLMs have validated CLEVA's efficacy.