RL Dreams: Policy Gradient Optimization for Score Distillation based 3D Generation

3D generation has rapidly accelerated in the past decade owing to the progress in the field of generative modeling. Score Distillation Sampling (SDS) based rendering has improved 3D asset generation to a great extent. Further, the recent work of Denoising Diffusion Policy Optimization (DDPO) demonstrates that the diffusion process is compatible with policy gradient methods and has been demonstrated to improve the 2D diffusion models using an aesthetic scoring function. We first show that this aesthetic scorer acts as a strong guide for a variety of SDS-based methods and demonstrates its effectiveness in text-to-3D synthesis. Further, we leverage the DDPO approach to improve the quality of the 3D rendering obtained from 2D diffusion models. Our approach, DDPO3D, employs the policy gradient method in tandem with aesthetic scoring. To the best of our knowledge, this is the first method that extends policy gradient methods to 3D score-based rendering and shows improvement across SDS-based methods such as DreamGaussian, which are currently driving research in text-to-3D synthesis. Our approach is compatible with score distillation-based methods, which would facilitate the integration of diverse reward functions into the generative process. Our project page can be accessed via https://ddpo3d.github.io.

DREAM: Decentralized Reinforcement Learning for Exploration and Efficient Energy Management in Multi-Robot Systems

Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance. This paper introduces DREAM - Decentralized Reinforcement Learning for Exploration and Efficient Energy Management in Multi-Robot Systems, a comprehensive framework that optimizes the allocation of resources for efficient exploration. It advances beyond conventional heuristic-based task planning as observed conventionally. The framework incorporates Operational Range Estimation using Reinforcement Learning to perform exploration and obstacle avoidance in unfamiliar terrains. DREAM further introduces an Energy Consumption Model for goal allocation, thereby ensuring mission completion under constrained resources using a Graph Neural Network. This approach also ensures that the entire Multi-Robot System can survive for an extended period of time for further missions compared to the conventional approach of randomly allocating goals, which compromises one or more agents. Our approach adapts to prioritizing agents in real-time, showcasing remarkable resilience against dynamic environments. This robust solution was evaluated in various simulated environments, demonstrating adaptability and applicability across diverse scenarios. We observed a substantial improvement of about 25% over the baseline method, leading the way for future research in resource-constrained robotics.

Crowd-Aware Multi-Agent Pathfinding With Boosted Curriculum Reinforcement Learning

Multi-Agent Path Finding (MAPF) in crowded environments presents a challenging problem in motion planning, aiming to find collision-free paths for all agents in the system. MAPF finds a wide range of applications in various domains, including aerial swarms, autonomous warehouse robotics, and self-driving vehicles. The current approaches for MAPF can be broadly categorized into two main categories: centralized and decentralized planning. Centralized planning suffers from the curse of dimensionality and thus does not scale well in large and complex environments. On the other hand, decentralized planning enables agents to engage in real-time path planning within a partially observable environment, demonstrating implicit coordination. However, they suffer from slow convergence and performance degradation in dense environments. In this paper, we introduce CRAMP, a crowd-aware decentralized approach to address this problem by leveraging reinforcement learning guided by a boosted curriculum-based training strategy. We test CRAMP on simulated environments and demonstrate that our method outperforms the state-of-the-art decentralized methods for MAPF on various metrics. CRAMP improves the solution quality up to 58% measured in makespan and collision count, and up to 5% in success rate in comparison to previous methods.

DroNeRF: Real-time Multi-agent Drone Pose Optimization for Computing Neural Radiance Fields

We present a novel optimization algorithm called DroNeRF for the autonomous positioning of monocular camera drones around an object for real-time 3D reconstruction using only a few images. Neural Radiance Fields or NeRF, is a novel view synthesis technique used to generate new views of an object or scene from a set of input images. Using drones in conjunction with NeRF provides a unique and dynamic way to generate novel views of a scene, especially with limited scene capabilities of restricted movements. Our approach focuses on calculating optimized pose for individual drones while solely depending on the object geometry without using any external localization system. The unique camera positioning during the data-capturing phase significantly impacts the quality of the 3D model. To evaluate the quality of our generated novel views, we compute different perceptual metrics like the Peak Signal-to-Noise Ratio (PSNR) and Structural Similarity Index Measure(SSIM). Our work demonstrates the benefit of using an optimal placement of various drones with limited mobility to generate perceptually better results.

The Ivory Tower Lost: How College Students Respond Differently than the General Public to the COVID-19 Pandemic

Recently, the pandemic of the novel Coronavirus Disease-2019 (COVID-19) has presented governments with ultimate challenges. In the United States, the country with the highest confirmed COVID-19 infection cases, a nationwide social distancing protocol has been implemented by the President. For the first time in a hundred years since the 1918 flu pandemic, the US population is mandated to stay in their households and avoid public contact. As a result, the majority of public venues and services have ceased their operations. Following the closure of the University of Washington on March 7th, more than a thousand colleges and universities in the United States have cancelled in-person classes and campus activities, impacting millions of students. This paper aims to discover the social implications of this unprecedented disruption in our interactive society regarding both the general public and higher education populations by mining people's opinions on social media. We discover several topics embedded in a large number of COVID-19 tweets that represent the most central issues related to the pandemic, which are of great concerns for both college students and the general public. Moreover, we find significant differences between these two groups of Twitter users with respect to the sentiments they expressed towards the COVID-19 issues. To our best knowledge, this is the first social media-based study which focuses on the college student community's demographics and responses to prevalent social issues during a major crisis.

#MeToo on Campus: Studying College Sexual Assault at Scale Using Data Reported on Social Media

Recently, the emergence of the #MeToo trend on social media has empowered thousands of people to share their own sexual harassment experiences. This viral trend, in conjunction with the massive personal information and content available on Twitter, presents a promising opportunity to extract data driven insights to complement the ongoing survey based studies about sexual harassment in college. In this paper, we analyze the influence of the #MeToo trend on a pool of college followers. The results show that the majority of topics embedded in those #MeToo tweets detail sexual harassment stories, and there exists a significant correlation between the prevalence of this trend and official reports on several major geographical regions. Furthermore, we discover the outstanding sentiments of the #MeToo tweets using deep semantic meaning representations and their implications on the affected users experiencing different types of sexual harassment. We hope this study can raise further awareness regarding sexual misconduct in academia.

The MeMAD Submission to the WMT18 Multimodal Translation Task

This paper describes the MeMAD project entry to the WMT Multimodal Machine Translation Shared Task. We propose adapting the Transformer neural machine translation (NMT) architecture to a multi-modal setting. In this paper, we also describe the preliminary experiments with text-only translation systems leading us up to this choice. We have the top scoring system for both English-to-German and English-to-French, according to the automatic metrics for flickr18. Our experiments show that the effect of the visual features in our system is small. Our largest gains come from the quality of the underlying text-only NMT system. We find that appropriate use of additional data is effective.