Physics-Aware Iterative Learning and Prediction of Saliency Map for Bimanual Grasp Planning

Learning the skill of human bimanual grasping can extend the capabilities of robotic systems when grasping large or heavy objects. However, it requires a much larger search space for grasp points than single-hand grasping and numerous bimanual grasping annotations for network learning, making both data-driven or analytical grasping methods inefficient and insufficient. We propose a framework for bimanual grasp saliency learning that aims to predict the contact points for bimanual grasping based on existing human single-handed grasping data. We learn saliency corresponding vectors through minimal bimanual contact annotations that establishes correspondences between grasp positions of both hands, capable of eliminating the need for training a large-scale bimanual grasp dataset. The existing single-handed grasp saliency value serves as the initial value for bimanual grasp saliency, and we learn a saliency adjusted score that adds the initial value to obtain the final bimanual grasp saliency value, capable of predicting preferred bimanual grasp positions from single-handed grasp saliency. We also introduce a physics-balance loss function and a physics-aware refinement module that enables physical grasp balance, capable of enhancing the generalization of unknown objects. Comprehensive experiments in simulation and comparisons on dexterous grippers have demonstrated that our method can achieve balanced bimanual grasping effectively.

ContentCTR: Frame-level Live Streaming Click-Through Rate Prediction with Multimodal Transformer

In recent years, live streaming platforms have gained immense popularity as they allow users to broadcast their videos and interact in real-time with hosts and peers. Due to the dynamic changes of live content, accurate recommendation models are crucial for enhancing user experience. However, most previous works treat the live as a whole item and explore the Click-through-Rate (CTR) prediction framework on item-level, neglecting that the dynamic changes that occur even within the same live room. In this paper, we proposed a ContentCTR model that leverages multimodal transformer for frame-level CTR prediction. First, we present an end-to-end framework that can make full use of multimodal information, including visual frames, audio, and comments, to identify the most attractive live frames. Second, to prevent the model from collapsing into a mediocre solution, a novel pairwise loss function with first-order difference constraints is proposed to utilize the contrastive information existing in the highlight and non-highlight frames. Additionally, we design a temporal text-video alignment module based on Dynamic Time Warping to eliminate noise caused by the ambiguity and non-sequential alignment of visual and textual information. We conduct extensive experiments on both real-world scenarios and public datasets, and our ContentCTR model outperforms traditional recommendation models in capturing real-time content changes. Moreover, we deploy the proposed method on our company platform, and the results of online A/B testing further validate its practical significance.

Self-Supervised Text Erasing with Controllable Image Synthesis

Recent efforts on scene text erasing have shown promising results. However, existing methods require rich yet costly label annotations to obtain robust models, which limits the use for practical applications. To this end, we study an unsupervised scenario by proposing a novel Self-supervised Text Erasing (STE) framework that jointly learns to synthesize training images with erasure ground-truth and accurately erase texts in the real world. We first design a style-aware image synthesis function to generate synthetic images with diverse styled texts based on two synthetic mechanisms. To bridge the text style gap between the synthetic and real-world data, a policy network is constructed to control the synthetic mechanisms by picking style parameters with the guidance of two specifically designed rewards. The synthetic training images with erasure ground-truth are then fed to train a coarse-to-fine erasing network. To produce better erasing outputs, a triplet erasure loss is designed to enforce the refinement stage to recover background textures. Moreover, we provide a new dataset (called PosterErase), which contains 60K high-resolution posters with texts and is more challenging for the text erasing task. The proposed method has been extensively evaluated with both PosterErase and the widely-used SCUT-Enstext dataset. Notably, on PosterErase, our unsupervised method achieves 5.07 in terms of FID, with a relative performance of 20.9% over existing supervised baselines.

A Hybrid Bandit Model with Visual Priors for Creative Ranking in Display Advertising

Creative plays a great important role in e-commerce for exhibiting products. Sellers usually create multiple creatives for comprehensive demonstrations, thus it is crucial to display the most appealing design to maximize the Click-Through Rate~(CTR). For this purpose, modern recommender systems dynamically rank creatives when a product is proposed for a user. However, this task suffers more cold-start problem than conventional products recommendation In this paper, we propose a hybrid bandit model with visual priors which first makes predictions with a visual evaluation, and then naturally evolves to focus on the specialities through the hybrid bandit model. Our contributions are three-fold: 1) We present a visual-aware ranking model (called VAM) that incorporates a list-wise ranking loss for ordering the creatives according to the visual appearance. 2) Regarding visual evaluations as a prior, the hybrid bandit model (called HBM) is proposed to evolve consistently to make better posteriori estimations by taking more observations into consideration for online scenarios. 3) A first large-scale creative dataset, CreativeRanking, is constructed, which contains over 1.7M creatives of 500k products as well as their real impression and click data. Extensive experiments have also been conducted on both our dataset and public Mushroom dataset, demonstrating the effectiveness of the proposed method.

Fast Object Detection in Compressed Video

Object detection in videos has drawn increasing attention recently since it is more important in real scenarios. Most of the deep learning methods for video analysis use convolutional neural networks designed for image-wise parsing in a video stream. But they usually ignore the fact that a video is generally stored and transmitted in a compressed data format. In this paper, we propose a fast object detection model that incorporates light-weight motion-aided memory network (MMNet), which can be directly used for H.264 compressed video. MMNet has two major advantages: 1) For a group of successive pictures (GOP) in a compressed video stream, it runs the heavy computational network for I-frames, i.e. a few reference frames in videos, while a light-weight memory network is designed to generate features for prediction frames called P-frames; 2) Unlike establishing an additional network to explicitly model motion among frames, we directly take full advantage of both motion vectors and residual errors that are all encoded in a compressed video. Such signals maintain spatial variations and are freely available. To our best knowledge, the MMNet is the first work that explores a convolutional detector on a compressed video and a motion-based memory in order to achieve significant speedup. Our model is evaluated on the large-scale ImageNet VID dataset, and the results show that it is about 3x times faster than single image detector R-FCN and 10x times faster than high performance detectors like FGFA and MANet.