Efficient Heatmap-Guided 6-Dof Grasp Detection in Cluttered Scenes

Fast and robust object grasping in clutter is a crucial component of robotics. Most current works resort to the whole observed point cloud for 6-Dof grasp generation, ignoring the guidance information excavated from global semantics, thus limiting high-quality grasp generation and real-time performance. In this work, we show that the widely used heatmaps are underestimated in the efficiency of 6-Dof grasp generation. Therefore, we propose an effective local grasp generator combined with grasp heatmaps as guidance, which infers in a global-to-local semantic-to-point way. Specifically, Gaussian encoding and the grid-based strategy are applied to predict grasp heatmaps as guidance to aggregate local points into graspable regions and provide global semantic information. Further, a novel non-uniform anchor sampling mechanism is designed to improve grasp accuracy and diversity. Benefiting from the high-efficiency encoding in the image space and focusing on points in local graspable regions, our framework can perform high-quality grasp detection in real-time and achieve state-of-the-art results. In addition, real robot experiments demonstrate the effectiveness of our method with a success rate of 94% and a clutter completion rate of 100%. Our code is available at https://github.com/THU-VCLab/HGGD.

Rethinking 6-Dof Grasp Detection: A Flexible Framework for High-Quality Grasping

Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the suitability for various downstream applications, such as target-oriented grasping. Addressing this issue, we rethink 6-Dof grasp detection from a grasp-centric view and propose a versatile grasp framework capable of handling both scene-level and target-oriented grasping. Our framework, FlexLoG, is composed of a Flexible Guidance Module and a Local Grasp Model. Specifically, the Flexible Guidance Module is compatible with both global (e.g., grasp heatmap) and local (e.g., visual grounding) guidance, enabling the generation of high-quality grasps across various tasks. The Local Grasp Model focuses on object-agnostic regional points and predicts grasps locally and intently. Experiment results reveal that our framework achieves over 18% and 23% improvement on unseen splits of the GraspNet-1Billion Dataset. Furthermore, real-world robotic tests in three distinct settings yield a 95% success rate.

Boosting Semi-Supervised Temporal Action Localization by Learning from Non-Target Classes

The crux of semi-supervised temporal action localization (SS-TAL) lies in excavating valuable information from abundant unlabeled videos. However, current approaches predominantly focus on building models that are robust to the error-prone target class (i.e, the predicted class with the highest confidence) while ignoring informative semantics within non-target classes. This paper approaches SS-TAL from a novel perspective by advocating for learning from non-target classes, transcending the conventional focus solely on the target class. The proposed approach involves partitioning the label space of the predicted class distribution into distinct subspaces: target class, positive classes, negative classes, and ambiguous classes, aiming to mine both positive and negative semantics that are absent in the target class, while excluding ambiguous classes. To this end, we first devise innovative strategies to adaptively select high-quality positive and negative classes from the label space, by modeling both the confidence and rank of a class in relation to those of the target class. Then, we introduce novel positive and negative losses designed to guide the learning process, pushing predictions closer to positive classes and away from negative classes. Finally, the positive and negative processes are integrated into a hybrid positive-negative learning framework, facilitating the utilization of non-target classes in both labeled and unlabeled videos. Experimental results on THUMOS14 and ActivityNet v1.3 demonstrate the superiority of the proposed method over prior state-of-the-art approaches.

Have Seen Me Before? Automating Dataset Updates Towards Reliable and Timely Evaluation

Due to the expanding capabilities and pre-training data, Large Language Models (LLMs) are facing increasingly serious evaluation challenges. On one hand, the data leakage issue cause over-estimation on existing benchmarks. On the other hand, periodically curating datasets manually is costly. In this paper, we propose to automate dataset updates for reliable and timely evaluation. The basic idea is to generate unseen and high-quality testing samples based on existing ones to mitigate leakage issues. In specific, we propose two strategies with systematically verification. First, the mimicking strategy employs LLMs to create new samples resembling existing ones, to the maximum extent preserving the stylistic of the original dataset. Our experiments demonstrate its evaluation stability across multiple instantiations and its effectiveness in dealing with data leakage issues in most cases. Second, for the cases that mimicking dataset works poorly, we design an extending strategy that adjusts the difficulty of the generated samples according to varying cognitive levels. This not only makes our evaluation more systematic, but also, with a balanced difficulty, even discern model capabilities better at fine-grained levels.

Dynamic Pricing and Learning with Long-term Reference Effects

We consider a dynamic pricing problem where customer response to the current price is impacted by the customer price expectation, aka reference price. We study a simple and novel reference price mechanism where reference price is the average of the past prices offered by the seller. As opposed to the more commonly studied exponential smoothing mechanism, in our reference price mechanism the prices offered by seller have a longer term effect on the future customer expectations. We show that under this mechanism, a markdown policy is near-optimal irrespective of the parameters of the model. This matches the common intuition that a seller may be better off by starting with a higher price and then decreasing it, as the customers feel like they are getting bargains on items that are ordinarily more expensive. For linear demand models, we also provide a detailed characterization of the near-optimal markdown policy along with an efficient way of computing it. We then consider a more challenging dynamic pricing and learning problem, where the demand model parameters are apriori unknown, and the seller needs to learn them online from the customers' responses to the offered prices while simultaneously optimizing revenue. The objective is to minimize regret, i.e., the $T$-round revenue loss compared to a clairvoyant optimal policy. This task essentially amounts to learning a non-stationary optimal policy in a time-variant Markov Decision Process (MDP). For linear demand models, we provide an efficient learning algorithm with an optimal $\tilde{O}(\sqrt{T})$ regret upper bound.

Understanding and Guiding Weakly Supervised Entity Alignment with Potential Isomorphism Propagation

Weakly Supervised Entity Alignment (EA) is the task of identifying equivalent entities across diverse knowledge graphs (KGs) using only a limited number of seed alignments. Despite substantial advances in aggregation-based weakly supervised EA, the underlying mechanisms in this setting remain unexplored. In this paper, we present a propagation perspective to analyze weakly supervised EA and explain the existing aggregation-based EA models. Our theoretical analysis reveals that these models essentially seek propagation operators for pairwise entity similarities. We further prove that, despite the structural heterogeneity of different KGs, the potentially aligned entities within aggregation-based EA models have isomorphic subgraphs, which is the core premise of EA but has not been investigated. Leveraging this insight, we introduce a potential isomorphism propagation operator to enhance the propagation of neighborhood information across KGs. We develop a general EA framework, PipEA, incorporating this operator to improve the accuracy of every type of aggregation-based model without altering the learning process. Extensive experiments substantiate our theoretical findings and demonstrate PipEA's significant performance gains over state-of-the-art weakly supervised EA methods. Our work not only advances the field but also enhances our comprehension of aggregation-based weakly supervised EA.

Towards Semantic Consistency: Dirichlet Energy Driven Robust Multi-Modal Entity Alignment

In Multi-Modal Knowledge Graphs (MMKGs), Multi-Modal Entity Alignment (MMEA) is crucial for identifying identical entities across diverse modal attributes. However, semantic inconsistency, mainly due to missing modal attributes, poses a significant challenge. Traditional approaches rely on attribute interpolation, but this often introduces modality noise, distorting the original semantics. Moreover, the lack of a universal theoretical framework limits advancements in achieving semantic consistency. This study introduces a novel approach, DESAlign, which addresses these issues by applying a theoretical framework based on Dirichlet energy to ensure semantic consistency. We discover that semantic inconsistency leads to model overfitting to modality noise, causing performance fluctuations, particularly when modalities are missing. DESAlign innovatively combats over-smoothing and interpolates absent semantics using existing modalities. Our approach includes a multi-modal knowledge graph learning strategy and a propagation technique that employs existing semantic features to compensate for missing ones, providing explicit Euler solutions. Comprehensive evaluations across 18 benchmarks, including monolingual and bilingual scenarios, demonstrate that DESAlign surpasses existing methods, setting a new standard in performance. Further testing on 42 benchmarks with high rates of missing modalities confirms its robustness, offering an effective solution to semantic inconsistency in real-world MMKGs.

Context Disentangling and Prototype Inheriting for Robust Visual Grounding

Visual grounding (VG) aims to locate a specific target in an image based on a given language query. The discriminative information from context is important for distinguishing the target from other objects, particularly for the targets that have the same category as others. However, most previous methods underestimate such information. Moreover, they are usually designed for the standard scene (without any novel object), which limits their generalization to the open-vocabulary scene. In this paper, we propose a novel framework with context disentangling and prototype inheriting for robust visual grounding to handle both scenes. Specifically, the context disentangling disentangles the referent and context features, which achieves better discrimination between them. The prototype inheriting inherits the prototypes discovered from the disentangled visual features by a prototype bank to fully utilize the seen data, especially for the open-vocabulary scene. The fused features, obtained by leveraging Hadamard product on disentangled linguistic and visual features of prototypes to avoid sharp adjusting the importance between the two types of features, are then attached with a special token and feed to a vision Transformer encoder for bounding box regression. Extensive experiments are conducted on both standard and open-vocabulary scenes. The performance comparisons indicate that our method outperforms the state-of-the-art methods in both scenarios. {The code is available at https://github.com/WayneTomas/TransCP.

FedMKGC: Privacy-Preserving Federated Multilingual Knowledge Graph Completion

Knowledge graph completion (KGC) aims to predict missing facts in knowledge graphs (KGs), which is crucial as modern KGs remain largely incomplete. While training KGC models on multiple aligned KGs can improve performance, previous methods that rely on transferring raw data among KGs raise privacy concerns. To address this challenge, we propose a new federated learning framework that implicitly aggregates knowledge from multiple KGs without demanding raw data exchange and entity alignment. We treat each KG as a client that trains a local language model through textbased knowledge representation learning. A central server then aggregates the model weights from clients. As natural language provides a universal representation, the same knowledge thus has similar semantic representations across KGs. As such, the aggregated language model can leverage complementary knowledge from multilingual KGs without demanding raw user data sharing. Extensive experiments on a benchmark dataset demonstrate that our method substantially improves KGC on multilingual KGs, achieving comparable performance to state-of-the-art alignment-based models without requiring any labeled alignments or raw user data sharing. Our codes will be publicly available.