Equivariant Symmetries for Inertial Navigation Systems

This paper investigates the problem of inertial navigation system (INS) filter design through the lens of symmetry. The extended Kalman filter (EKF) and its variants, have been the staple of INS filtering for 50 years; however, recent advances in inertial navigation systems have exploited matrix Lie group structure to design stochastic filters and state observers that have been shown to display superior performance compared to classical solutions. In this work we consider the case where a vehicle has an inertial measurement unit (IMU) and a global navigation satellite system (GNSS) receiver. We show that all the modern variants of the EKF for these sensors can be interpreted as the recently proposed Equivariant Filter (EqF) design methodology applied to different choices of symmetry group for the INS problem. This leads us to propose two new symmetries for the INS problem that have not been considered in the prior literature, and provide a discussion of the relative strengths and weaknesses of all the different algorithms. We believe the collection of symmetries that we present here capture all the sensible choices of symmetry for this problem and sensor suite, and that the analysis provided is indicative of the relative real-world performance potential of the different algorithms.

Exploring Model Transferability through the Lens of Potential Energy

Transfer learning has become crucial in computer vision tasks due to the vast availability of pre-trained deep learning models. However, selecting the optimal pre-trained model from a diverse pool for a specific downstream task remains a challenge. Existing methods for measuring the transferability of pre-trained models rely on statistical correlations between encoded static features and task labels, but they overlook the impact of underlying representation dynamics during fine-tuning, leading to unreliable results, especially for self-supervised models. In this paper, we present an insightful physics-inspired approach named PED to address these challenges. We reframe the challenge of model selection through the lens of potential energy and directly model the interaction forces that influence fine-tuning dynamics. By capturing the motion of dynamic representations to decline the potential energy within a force-driven physical model, we can acquire an enhanced and more stable observation for estimating transferability. The experimental results on 10 downstream tasks and 12 self-supervised models demonstrate that our approach can seamlessly integrate into existing ranking techniques and enhance their performances, revealing its effectiveness for the model selection task and its potential for understanding the mechanism in transfer learning. Code will be available at https://github.com/lixiaotong97/PED.

ViT-Lens: Towards Omni-modal Representations

Though the success of CLIP-based training recipes in vision-language models, their scalability to more modalities (e.g., 3D, audio, etc.) is limited to large-scale data, which is expensive or even inapplicable for rare modalities. In this paper, we present ViT-Lens that facilitates efficient omni-modal representation learning by perceiving novel modalities with a pretrained ViT and aligning to a pre-defined space. Specifically, the modality-specific lens is tuned to project multimodal signals to the shared embedding space, which are then processed by a strong ViT that carries pre-trained image knowledge. The encoded multimodal representations are optimized toward aligning with the modal-independent space, pre-defined by off-the-shelf foundation models. A well-trained lens with a ViT backbone has the potential to serve as one of these foundation models, supervising the learning of subsequent modalities. ViT-Lens provides a unified solution for representation learning of increasing modalities with two appealing benefits: (i) Exploiting the pretrained ViT across tasks and domains effectively with efficient data regime; (ii) Emergent downstream capabilities of novel modalities are demonstrated due to the modality alignment space. We evaluate ViT-Lens in the context of 3D as an initial verification. In zero-shot 3D classification, ViT-Lens achieves substantial improvements over previous state-of-the-art, showing 52.0% accuracy on Objaverse-LVIS, 87.4% on ModelNet40, and 60.6% on ScanObjectNN. Furthermore, we enable zero-shot 3D question-answering by simply integrating the trained 3D lens into the InstructBLIP model without any adaptation. We will release the results of ViT-Lens on more modalities in the near future.

SEED-Bench: Benchmarking Multimodal LLMs with Generative Comprehension

Based on powerful Large Language Models (LLMs), recent generative Multimodal Large Language Models (MLLMs) have gained prominence as a pivotal research area, exhibiting remarkable capability for both comprehension and generation. In this work, we address the evaluation of generative comprehension in MLLMs as a preliminary step towards a comprehensive assessment of generative models, by introducing a benchmark named SEED-Bench. SEED-Bench consists of 19K multiple choice questions with accurate human annotations (x 6 larger than existing benchmarks), which spans 12 evaluation dimensions including the comprehension of both the image and video modality. We develop an advanced pipeline for generating multiple-choice questions that target specific evaluation dimensions, integrating both automatic filtering and manual verification processes. Multiple-choice questions with groundtruth options derived from human annotation enables an objective and efficient assessment of model performance, eliminating the need for human or GPT intervention during evaluation. We further evaluate the performance of 18 models across all 12 dimensions, covering both the spatial and temporal understanding. By revealing the limitations of existing MLLMs through evaluation results, we aim for SEED-Bench to provide insights for motivating future research. We will launch and consistently maintain a leaderboard to provide a platform for the community to assess and investigate model capability.

Planting a SEED of Vision in Large Language Model

We present SEED, an elaborate image tokenizer that empowers Large Language Models (LLMs) with the emergent ability to SEE and Draw at the same time. Research on image tokenizers has previously reached an impasse, as frameworks employing quantized visual tokens have lost prominence due to subpar performance and convergence in multimodal comprehension (compared to BLIP-2, etc.) or generation (compared to Stable Diffusion, etc.). Despite the limitations, we remain confident in its natural capacity to unify visual and textual representations, facilitating scalable multimodal training with LLM's original recipe. In this study, we identify two crucial principles for the architecture and training of SEED that effectively ease subsequent alignment with LLMs. (1) Image tokens should be independent of 2D physical patch positions and instead be produced with a 1D causal dependency, exhibiting intrinsic interdependence that aligns with the left-to-right autoregressive prediction mechanism in LLMs. (2) Image tokens should capture high-level semantics consistent with the degree of semantic abstraction in words, and be optimized for both discriminativeness and reconstruction during the tokenizer training phase. As a result, the off-the-shelf LLM is able to perform both image-to-text and text-to-image generation by incorporating our SEED through efficient LoRA tuning. Comprehensive multimodal pretraining and instruction tuning, which may yield improved results, are reserved for future investigation. This version of SEED was trained in 5.7 days using only 64 V100 GPUs and 5M publicly available image-text pairs. Our preliminary study emphasizes the great potential of discrete visual tokens in versatile multimodal LLMs and the importance of proper image tokenizers in broader research.

DreamDiffusion: Generating High-Quality Images from Brain EEG Signals

This paper introduces DreamDiffusion, a novel method for generating high-quality images directly from brain electroencephalogram (EEG) signals, without the need to translate thoughts into text. DreamDiffusion leverages pre-trained text-to-image models and employs temporal masked signal modeling to pre-train the EEG encoder for effective and robust EEG representations. Additionally, the method further leverages the CLIP image encoder to provide extra supervision to better align EEG, text, and image embeddings with limited EEG-image pairs. Overall, the proposed method overcomes the challenges of using EEG signals for image generation, such as noise, limited information, and individual differences, and achieves promising results. Quantitative and qualitative results demonstrate the effectiveness of the proposed method as a significant step towards portable and low-cost ``thoughts-to-image'', with potential applications in neuroscience and computer vision. The code is available here \url{https://github.com/bbaaii/DreamDiffusion}.

PTVD: A Large-Scale Plot-Oriented Multimodal Dataset Based on Television Dramas

Art forms such as movies and television (TV) dramas are reflections of the real world, which have attracted much attention from the multimodal learning community recently. However, existing corpora in this domain share three limitations: (1) annotated in a scene-oriented fashion, they ignore the coherence within plots; (2) their text lacks empathy and seldom mentions situational context; (3) their video clips fail to cover long-form relationship due to short duration. To address these fundamental issues, using 1,106 TV drama episodes and 24,875 informative plot-focused sentences written by professionals, with the help of 449 human annotators, we constructed PTVD, the first plot-oriented multimodal dataset in the TV domain. It is also the first non-English dataset of its kind. Additionally, PTVD contains more than 26 million bullet screen comments (BSCs), powering large-scale pre-training. Next, aiming to open-source a strong baseline for follow-up works, we developed the multimodal algorithm that attacks different cinema/TV modelling problems with a unified architecture. Extensive experiments on three cognitive-inspired tasks yielded a number of novel observations (some of them being quite counter-intuition), further validating the value of PTVD in promoting multimodal research. The dataset and codes are released at \url{https://ptvd.github.io/}.

TaCA: Upgrading Your Visual Foundation Model with Task-agnostic Compatible Adapter

Visual foundation models like CLIP excel in learning feature representations from extensive datasets through self-supervised methods, demonstrating remarkable transfer learning and generalization capabilities. A growing number of applications based on visual foundation models are emerging, including innovative solutions such as BLIP-2. These applications employ pre-trained CLIP models as upstream feature extractors and train various downstream modules to accomplish diverse tasks. In situations involving system upgrades that require updating the upstream foundation model, it becomes essential to re-train all downstream modules to adapt to the new foundation model, which is inflexible and inefficient. In this paper, we introduce a parameter-efficient and task-agnostic adapter, dubbed TaCA, that facilitates compatibility across distinct foundation models while ensuring enhanced performance for the new models. TaCA allows downstream applications to seamlessly integrate better-performing foundation models without necessitating retraining. We conduct extensive experimental validation of TaCA using different scales of models with up to one billion parameters on various tasks such as video-text retrieval, video recognition, and visual question answering. The results consistently demonstrate the emergent ability of TaCA on hot-plugging upgrades for visual foundation models. Codes and models will be available at https://github.com/TencentARC/TaCA.