Robust Quadrupedal Locomotion via Risk-Averse Policy Learning

The robustness of legged locomotion is crucial for quadrupedal robots in challenging terrains. Recently, Reinforcement Learning (RL) has shown promising results in legged locomotion and various methods try to integrate privileged distillation, scene modeling, and external sensors to improve the generalization and robustness of locomotion policies. However, these methods are hard to handle uncertain scenarios such as abrupt terrain changes or unexpected external forces. In this paper, we consider a novel risk-sensitive perspective to enhance the robustness of legged locomotion. Specifically, we employ a distributional value function learned by quantile regression to model the aleatoric uncertainty of environments, and perform risk-averse policy learning by optimizing the worst-case scenarios via a risk distortion measure. Extensive experiments in both simulation environments and a real Aliengo robot demonstrate that our method is efficient in handling various external disturbances, and the resulting policy exhibits improved robustness in harsh and uncertain situations in legged locomotion. Videos are available at https://risk-averse-locomotion.github.io/.

Parallel Knowledge Enhancement based Framework for Multi-behavior Recommendation

Multi-behavior recommendation algorithms aim to leverage the multiplex interactions between users and items to learn users' latent preferences. Recent multi-behavior recommendation frameworks contain two steps: fusion and prediction. In the fusion step, advanced neural networks are used to model the hierarchical correlations between user behaviors. In the prediction step, multiple signals are utilized to jointly optimize the model with a multi-task learning (MTL) paradigm. However, recent approaches have not addressed the issue caused by imbalanced data distribution in the fusion step, resulting in the learned relationships being dominated by high-frequency behaviors. In the prediction step, the existing methods use a gate mechanism to directly aggregate expert information generated by coupling input, leading to negative information transfer. To tackle these issues, we propose a Parallel Knowledge Enhancement Framework (PKEF) for multi-behavior recommendation. Specifically, we enhance the hierarchical information propagation in the fusion step using parallel knowledge (PKF). Meanwhile, in the prediction step, we decouple the representations to generate expert information and introduce a projection mechanism during aggregation to eliminate gradient conflicts and alleviate negative transfer (PME). We conduct comprehensive experiments on three real-world datasets to validate the effectiveness of our model. The results further demonstrate the rationality and effectiveness of the designed PKF and PME modules. The source code and datasets are available at https://github.com/MC-CV/PKEF.

Strategic Preys Make Acute Predators: Enhancing Camouflaged Object Detectors by Generating Camouflaged Objects

Camouflaged object detection (COD) is the challenging task of identifying camouflaged objects visually blended into surroundings. Albeit achieving remarkable success, existing COD detectors still struggle to obtain precise results in some challenging cases. To handle this problem, we draw inspiration from the prey-vs-predator game that leads preys to develop better camouflage and predators to acquire more acute vision systems and develop algorithms from both the prey side and the predator side. On the prey side, we propose an adversarial training framework, Camouflageator, which introduces an auxiliary generator to generate more camouflaged objects that are harder for a COD method to detect. Camouflageator trains the generator and detector in an adversarial way such that the enhanced auxiliary generator helps produce a stronger detector. On the predator side, we introduce a novel COD method, called Internal Coherence and Edge Guidance (ICEG), which introduces a camouflaged feature coherence module to excavate the internal coherence of camouflaged objects, striving to obtain more complete segmentation results. Additionally, ICEG proposes a novel edge-guided separated calibration module to remove false predictions to avoid obtaining ambiguous boundaries. Extensive experiments show that ICEG outperforms existing COD detectors and Camouflageator is flexible to improve various COD detectors, including ICEG, which brings state-of-the-art COD performance.

Consistency Regularization for Generalizable Source-free Domain Adaptation

Source-free domain adaptation (SFDA) aims to adapt a well-trained source model to an unlabelled target domain without accessing the source dataset, making it applicable in a variety of real-world scenarios. Existing SFDA methods ONLY assess their adapted models on the target training set, neglecting the data from unseen but identically distributed testing sets. This oversight leads to overfitting issues and constrains the model's generalization ability. In this paper, we propose a consistency regularization framework to develop a more generalizable SFDA method, which simultaneously boosts model performance on both target training and testing datasets. Our method leverages soft pseudo-labels generated from weakly augmented images to supervise strongly augmented images, facilitating the model training process and enhancing the generalization ability of the adapted model. To leverage more potentially useful supervision, we present a sampling-based pseudo-label selection strategy, taking samples with severer domain shift into consideration. Moreover, global-oriented calibration methods are introduced to exploit global class distribution and feature cluster information, further improving the adaptation process. Extensive experiments demonstrate our method achieves state-of-the-art performance on several SFDA benchmarks, and exhibits robustness on unseen testing datasets.

Ada-DQA: Adaptive Diverse Quality-aware Feature Acquisition for Video Quality Assessment

Video quality assessment (VQA) has attracted growing attention in recent years. While the great expense of annotating large-scale VQA datasets has become the main obstacle for current deep-learning methods. To surmount the constraint of insufficient training data, in this paper, we first consider the complete range of video distribution diversity (\ie content, distortion, motion) and employ diverse pretrained models (\eg architecture, pretext task, pre-training dataset) to benefit quality representation. An Adaptive Diverse Quality-aware feature Acquisition (Ada-DQA) framework is proposed to capture desired quality-related features generated by these frozen pretrained models. By leveraging the Quality-aware Acquisition Module (QAM), the framework is able to extract more essential and relevant features to represent quality. Finally, the learned quality representation is utilized as supplementary supervisory information, along with the supervision of the labeled quality score, to guide the training of a relatively lightweight VQA model in a knowledge distillation manner, which largely reduces the computational cost during inference. Experimental results on three mainstream no-reference VQA benchmarks clearly show the superior performance of Ada-DQA in comparison with current state-of-the-art approaches without using extra training data of VQA.

HQG-Net: Unpaired Medical Image Enhancement with High-Quality Guidance

Unpaired Medical Image Enhancement (UMIE) aims to transform a low-quality (LQ) medical image into a high-quality (HQ) one without relying on paired images for training. While most existing approaches are based on Pix2Pix/CycleGAN and are effective to some extent, they fail to explicitly use HQ information to guide the enhancement process, which can lead to undesired artifacts and structural distortions. In this paper, we propose a novel UMIE approach that avoids the above limitation of existing methods by directly encoding HQ cues into the LQ enhancement process in a variational fashion and thus model the UMIE task under the joint distribution between the LQ and HQ domains. Specifically, we extract features from an HQ image and explicitly insert the features, which are expected to encode HQ cues, into the enhancement network to guide the LQ enhancement with the variational normalization module. We train the enhancement network adversarially with a discriminator to ensure the generated HQ image falls into the HQ domain. We further propose a content-aware loss to guide the enhancement process with wavelet-based pixel-level and multi-encoder-based feature-level constraints. Additionally, as a key motivation for performing image enhancement is to make the enhanced images serve better for downstream tasks, we propose a bi-level learning scheme to optimize the UMIE task and downstream tasks cooperatively, helping generate HQ images both visually appealing and favorable for downstream tasks. Experiments on three medical datasets, including two newly collected datasets, verify that the proposed method outperforms existing techniques in terms of both enhancement quality and downstream task performance. We will make the code and the newly collected datasets publicly available for community study.

Source-Free Domain Adaptive Fundus Image Segmentation with Class-Balanced Mean Teacher

This paper studies source-free domain adaptive fundus image segmentation which aims to adapt a pretrained fundus segmentation model to a target domain using unlabeled images. This is a challenging task because it is highly risky to adapt a model only using unlabeled data. Most existing methods tackle this task mainly by designing techniques to carefully generate pseudo labels from the model's predictions and use the pseudo labels to train the model. While often obtaining positive adaption effects, these methods suffer from two major issues. First, they tend to be fairly unstable - incorrect pseudo labels abruptly emerged may cause a catastrophic impact on the model. Second, they fail to consider the severe class imbalance of fundus images where the foreground (e.g., cup) region is usually very small. This paper aims to address these two issues by proposing the Class-Balanced Mean Teacher (CBMT) model. CBMT addresses the unstable issue by proposing a weak-strong augmented mean teacher learning scheme where only the teacher model generates pseudo labels from weakly augmented images to train a student model that takes strongly augmented images as input. The teacher is updated as the moving average of the instantly trained student, which could be noisy. This prevents the teacher model from being abruptly impacted by incorrect pseudo-labels. For the class imbalance issue, CBMT proposes a novel loss calibration approach to highlight foreground classes according to global statistics. Experiments show that CBMT well addresses these two issues and outperforms existing methods on multiple benchmarks.

Zero-shot Preference Learning for Offline RL via Optimal Transport

Preference-based Reinforcement Learning (PbRL) has demonstrated remarkable efficacy in aligning rewards with human intentions. However, a significant challenge lies in the need of substantial human labels, which is costly and time-consuming. Additionally, the expensive preference data obtained from prior tasks is not typically reusable for subsequent task learning, leading to extensive labeling for each new task. In this paper, we propose a novel zero-shot preference-based RL algorithm that leverages labeled preference data from source tasks to infer labels for target tasks, eliminating the requirement for human queries. Our approach utilizes Gromov-Wasserstein distance to align trajectory distributions between source and target tasks. The solved optimal transport matrix serves as a correspondence between trajectories of two tasks, making it possible to identify corresponding trajectory pairs between tasks and transfer the preference labels. However, learning directly from inferred labels that contains a fraction of noisy labels will result in an inaccurate reward function, subsequently affecting policy performance. To this end, we introduce Robust Preference Transformer, which models the rewards as Gaussian distributions and incorporates reward uncertainty in addition to reward mean. The empirical results on robotic manipulation tasks of Meta-World and Robomimic show that our method has strong capabilities of transferring preferences between tasks and learns reward functions from noisy labels robustly. Furthermore, we reveal that our method attains near-oracle performance with a small proportion of scripted labels.

Normalization Enhances Generalization in Visual Reinforcement Learning

Recent advances in visual reinforcement learning (RL) have led to impressive success in handling complex tasks. However, these methods have demonstrated limited generalization capability to visual disturbances, which poses a significant challenge for their real-world application and adaptability. Though normalization techniques have demonstrated huge success in supervised and unsupervised learning, their applications in visual RL are still scarce. In this paper, we explore the potential benefits of integrating normalization into visual RL methods with respect to generalization performance. We find that, perhaps surprisingly, incorporating suitable normalization techniques is sufficient to enhance the generalization capabilities, without any additional special design. We utilize the combination of two normalization techniques, CrossNorm and SelfNorm, for generalizable visual RL. Extensive experiments are conducted on DMControl Generalization Benchmark and CARLA to validate the effectiveness of our method. We show that our method significantly improves generalization capability while only marginally affecting sample efficiency. In particular, when integrated with DrQ-v2, our method enhances the test performance of DrQ-v2 on CARLA across various scenarios, from 14% of the training performance to 97%.

GPT4Tools: Teaching Large Language Model to Use Tools via Self-instruction

This paper aims to efficiently enable Large Language Models (LLMs) to use multimodal tools. Advanced proprietary LLMs, such as ChatGPT and GPT-4, have shown great potential for tool usage through sophisticated prompt engineering. Nevertheless, these models typically rely on prohibitive computational costs and publicly inaccessible data. To address these challenges, we propose the GPT4Tools based on self-instruct to enable open-source LLMs, such as LLaMA and OPT, to use tools. It generates an instruction-following dataset by prompting an advanced teacher with various multi-modal contexts. By using the Low-Rank Adaptation (LoRA) optimization, our approach facilitates the open-source LLMs to solve a range of visual problems, including visual comprehension and image generation. Moreover, we provide a benchmark to evaluate the ability of LLMs to use tools, which is performed in both zero-shot and fine-tuning ways. Extensive experiments demonstrate the effectiveness of our method on various language models, which not only significantly improves the accuracy of invoking seen tools, but also enables the zero-shot capacity for unseen tools. The code and demo are available at https://github.com/StevenGrove/GPT4Tools.