TARGO: Benchmarking Target-driven Object Grasping under Occlusions

Recent advances in predicting 6D grasp poses from a single depth image have led to promising performance in robotic grasping. However, previous grasping models face challenges in cluttered environments where nearby objects impact the target object's grasp. In this paper, we first establish a new benchmark dataset for TARget-driven Grasping under Occlusions, named TARGO. We make the following contributions: 1) We are the first to study the occlusion level of grasping. 2) We set up an evaluation benchmark consisting of large-scale synthetic data and part of real-world data, and we evaluated five grasp models and found that even the current SOTA model suffers when the occlusion level increases, leaving grasping under occlusion still a challenge. 3) We also generate a large-scale training dataset via a scalable pipeline, which can be used to boost the performance of grasping under occlusion and generalized to the real world. 4) We further propose a transformer-based grasping model involving a shape completion module, termed TARGO-Net, which performs most robustly as occlusion increases. Our benchmark dataset can be found at https://TARGO-benchmark.github.io/.

Off-OAB: Off-Policy Policy Gradient Method with Optimal Action-Dependent Baseline

Policy-based methods have achieved remarkable success in solving challenging reinforcement learning problems. Among these methods, off-policy policy gradient methods are particularly important due to that they can benefit from off-policy data. However, these methods suffer from the high variance of the off-policy policy gradient (OPPG) estimator, which results in poor sample efficiency during training. In this paper, we propose an off-policy policy gradient method with the optimal action-dependent baseline (Off-OAB) to mitigate this variance issue. Specifically, this baseline maintains the OPPG estimator's unbiasedness while theoretically minimizing its variance. To enhance practical computational efficiency, we design an approximated version of this optimal baseline. Utilizing this approximation, our method (Off-OAB) aims to decrease the OPPG estimator's variance during policy optimization. We evaluate the proposed Off-OAB method on six representative tasks from OpenAI Gym and MuJoCo, where it demonstrably surpasses state-of-the-art methods on the majority of these tasks.

FlagVNE: A Flexible and Generalizable Reinforcement Learning Framework for Network Resource Allocation

Virtual network embedding (VNE) is an essential resource allocation task in network virtualization, aiming to map virtual network requests (VNRs) onto physical infrastructure. Reinforcement learning (RL) has recently emerged as a promising solution to this problem. However, existing RL-based VNE methods are limited by the unidirectional action design and one-size-fits-all training strategy, resulting in restricted searchability and generalizability. In this paper, we propose a FLexible And Generalizable RL framework for VNE, named FlagVNE. Specifically, we design a bidirectional action-based Markov decision process model that enables the joint selection of virtual and physical nodes, thus improving the exploration flexibility of solution space. To tackle the expansive and dynamic action space, we design a hierarchical decoder to generate adaptive action probability distributions and ensure high training efficiency. Furthermore, to overcome the generalization issue for varying VNR sizes, we propose a meta-RL-based training method with a curriculum scheduling strategy, facilitating specialized policy training for each VNR size. Finally, extensive experimental results show the effectiveness of FlagVNE across multiple key metrics. Our code is available at GitHub (https://github.com/GeminiLight/flag-vne).

Safeguarding Next Generation Multiple Access Using Physical Layer Security Techniques: A Tutorial

Driven by the ever-increasing requirements of ultra-high spectral efficiency, ultra-low latency, and massive connectivity, the forefront of wireless research calls for the design of advanced next generation multiple access schemes to facilitate provisioning of these stringent demands. This inspires the embrace of non-orthogonal multiple access (NOMA) in future wireless communication networks. Nevertheless, the support of massive access via NOMA leads to additional security threats, due to the open nature of the air interface, the broadcast characteristic of radio propagation as well as intertwined relationship among paired NOMA users. To address this specific challenge, the superimposed transmission of NOMA can be explored as new opportunities for security aware design, for example, multiuser interference inherent in NOMA can be constructively engineered to benefit communication secrecy and privacy. The purpose of this tutorial is to provide a comprehensive overview on the state-of-the-art physical layer security techniques that guarantee wireless security and privacy for NOMA networks, along with the opportunities, technical challenges, and future research trends.

rFaceNet: An End-to-End Network for Enhanced Physiological Signal Extraction through Identity-Specific Facial Contours

Remote photoplethysmography (rPPG) technique extracts blood volume pulse (BVP) signals from subtle pixel changes in video frames. This study introduces rFaceNet, an advanced rPPG method that enhances the extraction of facial BVP signals with a focus on facial contours. rFaceNet integrates identity-specific facial contour information and eliminates redundant data. It efficiently extracts facial contours from temporally normalized frame inputs through a Temporal Compressor Unit (TCU) and steers the model focus to relevant facial regions by using the Cross-Task Feature Combiner (CTFC). Through elaborate training, the quality and interpretability of facial physiological signals extracted by rFaceNet are greatly improved compared to previous methods. Moreover, our novel approach demonstrates superior performance than SOTA methods in various heart rate estimation benchmarks.

Dual-Functional Artificial Noise (DFAN) Aided Robust Covert Communications in Integrated Sensing and Communications

This paper investigates covert communications in an integrated sensing and communications system, where a dual-functional base station (called Alice) covertly transmits signals to a covert user (called Bob) while sensing multiple targets, with one of them acting as a potential watcher (called Willie) and maliciously eavesdropping on legitimate communications. To shelter the covert communications, Alice transmits additional dual-functional artificial noise (DFAN) with a varying power not only to create uncertainty at Willie's signal reception to confuse Willie but also to sense the targets simultaneously. Based on this framework, the weighted sum of the sensing beampattern means square error (MSE) and cross correlation is minimized by jointly optimizing the covert communication and DFAN signals subject to the minimum covert rate requirement. The robust design considers both cases of imperfect Willie's CSI (WCSI) and statistical WCSI. Under the worst-case assumption that Willie can adaptively adjust the detection threshold to achieve the best detection performance, the minimum detection error probability (DEP) at Willie is analytically derived in the closed-form expression. The formulated covertness constrained optimization problems are tackled by a feasibility-checking based difference-of-convex relaxation (DC) algorithm utilizing the S-procedure, Bernstein-type inequality, and the DC method. Simulation results validate the feasibility of the proposed scheme and demonstrate the covertness performance gains achieved by our proposed design over various benchmarks.

Distilling Functional Rearrangement Priors from Large Models

Object rearrangement, a fundamental challenge in robotics, demands versatile strategies to handle diverse objects, configurations, and functional needs. To achieve this, the AI robot needs to learn functional rearrangement priors in order to specify precise goals that meet the functional requirements. Previous methods typically learn such priors from either laborious human annotations or manually designed heuristics, which limits scalability and generalization. In this work, we propose a novel approach that leverages large models to distill functional rearrangement priors. Specifically, our approach collects diverse arrangement examples using both LLMs and VLMs and then distills the examples into a diffusion model. During test time, the learned diffusion model is conditioned on the initial configuration and guides the positioning of objects to meet functional requirements. In this manner, we create a handshaking point that combines the strengths of conditional generative models and large models. Extensive experiments on multiple domains, including real-world scenarios, demonstrate the effectiveness of our approach in generating compatible goals for object rearrangement tasks, significantly outperforming baseline methods.

A Semi-automatic Oriental Ink Painting Framework for Robotic Drawing from 3D Models

Creating visually pleasing stylized ink paintings from 3D models is a challenge in robotic manipulation. We propose a semi-automatic framework that can extract expressive strokes from 3D models and draw them in oriental ink painting styles by using a robotic arm. The framework consists of a simulation stage and a robotic drawing stage. In the simulation stage, geometrical contours were automatically extracted from a certain viewpoint and a neural network was employed to create simplified contours. Then, expressive digital strokes were generated after interactive editing according to user's aesthetic understanding. In the robotic drawing stage, an optimization method was presented for drawing smooth and physically consistent strokes to the digital strokes, and two oriental ink painting styles termed as Noutan (shade) and Kasure (scratchiness) were applied to the strokes by robotic control of a brush's translation, dipping and scraping. Unlike existing methods that concentrate on generating paintings from 2D images, our framework has the advantage of rendering stylized ink paintings from 3D models by using a consumer-grade robotic arm. We evaluate the proposed framework by taking 3 standard models and a user-defined model as examples. The results show that our framework is able to draw visually pleasing oriental ink paintings with expressive strokes.

A General Perspective on Objectives of Reinforcement Learning

In this lecture, we present a general perspective on reinforcement learning (RL) objectives, where we show three versions of objectives. The first version is the standard definition of objective in RL literature. Then we extend the standard definition to the $\lambda$-return version, which unifies the standard definition of objective. Finally, we propose a general objective that unifies the previous two versions. The last version provides a high level to understand of RL's objective, where it shows a fundamental formulation that connects some widely used RL techniques (e.g., TD$(\lambda)$ and GAE), and this objective can be potentially applied to extensive RL algorithms.

Policy Representation via Diffusion Probability Model for Reinforcement Learning

Popular reinforcement learning (RL) algorithms tend to produce a unimodal policy distribution, which weakens the expressiveness of complicated policy and decays the ability of exploration. The diffusion probability model is powerful to learn complicated multimodal distributions, which has shown promising and potential applications to RL. In this paper, we formally build a theoretical foundation of policy representation via the diffusion probability model and provide practical implementations of diffusion policy for online model-free RL. Concretely, we character diffusion policy as a stochastic process, which is a new approach to representing a policy. Then we present a convergence guarantee for diffusion policy, which provides a theory to understand the multimodality of diffusion policy. Furthermore, we propose the DIPO which is an implementation for model-free online RL with DIffusion POlicy. To the best of our knowledge, DIPO is the first algorithm to solve model-free online RL problems with the diffusion model. Finally, extensive empirical results show the effectiveness and superiority of DIPO on the standard continuous control Mujoco benchmark.