RobotGPT: Robot Manipulation Learning from ChatGPT

We present RobotGPT, an innovative decision framework for robotic manipulation that prioritizes stability and safety. The execution code generated by ChatGPT cannot guarantee the stability and safety of the system. ChatGPT may provide different answers for the same task, leading to unpredictability. This instability prevents the direct integration of ChatGPT into the robot manipulation loop. Although setting the temperature to 0 can generate more consistent outputs, it may cause ChatGPT to lose diversity and creativity. Our objective is to leverage ChatGPT's problem-solving capabilities in robot manipulation and train a reliable agent. The framework includes an effective prompt structure and a robust learning model. Additionally, we introduce a metric for measuring task difficulty to evaluate ChatGPT's performance in robot manipulation. Furthermore, we evaluate RobotGPT in both simulation and real-world environments. Compared to directly using ChatGPT to generate code, our framework significantly improves task success rates, with an average increase from 38.5% to 91.5%. Therefore, training a RobotGPT by utilizing ChatGPT as an expert is a more stable approach compared to directly using ChatGPT as a task planner.

Reversed Image Signal Processing and RAW Reconstruction. AIM 2022 Challenge Report

Cameras capture sensor RAW images and transform them into pleasant RGB images, suitable for the human eyes, using their integrated Image Signal Processor (ISP). Numerous low-level vision tasks operate in the RAW domain (e.g. image denoising, white balance) due to its linear relationship with the scene irradiance, wide-range of information at 12bits, and sensor designs. Despite this, RAW image datasets are scarce and more expensive to collect than the already large and public RGB datasets. This paper introduces the AIM 2022 Challenge on Reversed Image Signal Processing and RAW Reconstruction. We aim to recover raw sensor images from the corresponding RGBs without metadata and, by doing this, "reverse" the ISP transformation. The proposed methods and benchmark establish the state-of-the-art for this low-level vision inverse problem, and generating realistic raw sensor readings can potentially benefit other tasks such as denoising and super-resolution.

Lightweight Vision Transformer with Cross Feature Attention

Recent advances in vision transformers (ViTs) have achieved great performance in visual recognition tasks. Convolutional neural networks (CNNs) exploit spatial inductive bias to learn visual representations, but these networks are spatially local. ViTs can learn global representations with their self-attention mechanism, but they are usually heavy-weight and unsuitable for mobile devices. In this paper, we propose cross feature attention (XFA) to bring down computation cost for transformers, and combine efficient mobile CNNs to form a novel efficient light-weight CNN-ViT hybrid model, XFormer, which can serve as a general-purpose backbone to learn both global and local representation. Experimental results show that XFormer outperforms numerous CNN and ViT-based models across different tasks and datasets. On ImageNet1K dataset, XFormer achieves top-1 accuracy of 78.5% with 5.5 million parameters, which is 2.2% and 6.3% more accurate than EfficientNet-B0 (CNN-based) and DeiT (ViT-based) for similar number of parameters. Our model also performs well when transferring to object detection and semantic segmentation tasks. On MS COCO dataset, XFormer exceeds MobileNetV2 by 10.5 AP (22.7 -> 33.2 AP) in YOLOv3 framework with only 6.3M parameters and 3.8G FLOPs. On Cityscapes dataset, with only a simple all-MLP decoder, XFormer achieves mIoU of 78.5 and FPS of 15.3, surpassing state-of-the-art lightweight segmentation networks.

WPNAS: Neural Architecture Search by jointly using Weight Sharing and Predictor

Weight sharing based and predictor based methods are two major types of fast neural architecture search methods. In this paper, we propose to jointly use weight sharing and predictor in a unified framework. First, we construct a SuperNet in a weight-sharing way and probabilisticly sample architectures from the SuperNet. To increase the correctness of the evaluation of architectures, besides direct evaluation using the inherited weights, we further apply a few-shot predictor to assess the architecture on the other hand. The final evaluation of the architecture is the combination of direct evaluation, the prediction from the predictor and the cost of the architecture. We regard the evaluation as a reward and apply a self-critical policy gradient approach to update the architecture probabilities. To further reduce the side effects of weight sharing, we propose a weakly weight sharing method by introducing another HyperNet. We conduct experiments on datasets including CIFAR-10, CIFAR-100 and ImageNet under NATS-Bench, DARTS and MobileNet search space. The proposed WPNAS method achieves state-of-the-art performance on these datasets.