Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V

Autonomous robot navigation and manipulation in open environments require reasoning and replanning with closed-loop feedback. We present COME-robot, the first closed-loop framework utilizing the GPT-4V vision-language foundation model for open-ended reasoning and adaptive planning in real-world scenarios. We meticulously construct a library of action primitives for robot exploration, navigation, and manipulation, serving as callable execution modules for GPT-4V in task planning. On top of these modules, GPT-4V serves as the brain that can accomplish multimodal reasoning, generate action policy with code, verify the task progress, and provide feedback for replanning. Such design enables COME-robot to (i) actively perceive the environments, (ii) perform situated reasoning, and (iii) recover from failures. Through comprehensive experiments involving 8 challenging real-world tabletop and manipulation tasks, COME-robot demonstrates a significant improvement in task success rate (~25%) compared to state-of-the-art baseline methods. We further conduct comprehensive analyses to elucidate how COME-robot's design facilitates failure recovery, free-form instruction following, and long-horizon task planning.

Scaling Up Dynamic Human-Scene Interaction Modeling

Confronting the challenges of data scarcity and advanced motion synthesis in human-scene interaction modeling, we introduce the TRUMANS dataset alongside a novel HSI motion synthesis method. TRUMANS stands as the most comprehensive motion-captured HSI dataset currently available, encompassing over 15 hours of human interactions across 100 indoor scenes. It intricately captures whole-body human motions and part-level object dynamics, focusing on the realism of contact. This dataset is further scaled up by transforming physical environments into exact virtual models and applying extensive augmentations to appearance and motion for both humans and objects while maintaining interaction fidelity. Utilizing TRUMANS, we devise a diffusion-based autoregressive model that efficiently generates HSI sequences of any length, taking into account both scene context and intended actions. In experiments, our approach shows remarkable zero-shot generalizability on a range of 3D scene datasets (e.g., PROX, Replica, ScanNet, ScanNet++), producing motions that closely mimic original motion-captured sequences, as confirmed by quantitative experiments and human studies.

MetaScript: Few-Shot Handwritten Chinese Content Generation via Generative Adversarial Networks

In this work, we propose MetaScript, a novel Chinese content generation system designed to address the diminishing presence of personal handwriting styles in the digital representation of Chinese characters. Our approach harnesses the power of few-shot learning to generate Chinese characters that not only retain the individual's unique handwriting style but also maintain the efficiency of digital typing. Trained on a diverse dataset of handwritten styles, MetaScript is adept at producing high-quality stylistic imitations from minimal style references and standard fonts. Our work demonstrates a practical solution to the challenges of digital typography in preserving the personal touch in written communication, particularly in the context of Chinese script. Notably, our system has demonstrated superior performance in various evaluations, including recognition accuracy, inception score, and Frechet inception distance. At the same time, the training conditions of our model are easy to meet and facilitate generalization to real applications.

Test-Time Augmentation for 3D Point Cloud Classification and Segmentation

Data augmentation is a powerful technique to enhance the performance of a deep learning task but has received less attention in 3D deep learning. It is well known that when 3D shapes are sparsely represented with low point density, the performance of the downstream tasks drops significantly. This work explores test-time augmentation (TTA) for 3D point clouds. We are inspired by the recent revolution of learning implicit representation and point cloud upsampling, which can produce high-quality 3D surface reconstruction and proximity-to-surface, respectively. Our idea is to leverage the implicit field reconstruction or point cloud upsampling techniques as a systematic way to augment point cloud data. Mainly, we test both strategies by sampling points from the reconstructed results and using the sampled point cloud as test-time augmented data. We show that both strategies are effective in improving accuracy. We observed that point cloud upsampling for test-time augmentation can lead to more significant performance improvement on downstream tasks such as object classification and segmentation on the ModelNet40, ShapeNet, ScanObjectNN, and SemanticKITTI datasets, especially for sparse point clouds.

DSPy: Compiling Declarative Language Model Calls into Self-Improving Pipelines

The ML community is rapidly exploring techniques for prompting language models (LMs) and for stacking them into pipelines that solve complex tasks. Unfortunately, existing LM pipelines are typically implemented using hard-coded "prompt templates", i.e. lengthy strings discovered via trial and error. Toward a more systematic approach for developing and optimizing LM pipelines, we introduce DSPy, a programming model that abstracts LM pipelines as text transformation graphs, i.e. imperative computational graphs where LMs are invoked through declarative modules. DSPy modules are parameterized, meaning they can learn (by creating and collecting demonstrations) how to apply compositions of prompting, finetuning, augmentation, and reasoning techniques. We design a compiler that will optimize any DSPy pipeline to maximize a given metric. We conduct two case studies, showing that succinct DSPy programs can express and optimize sophisticated LM pipelines that reason about math word problems, tackle multi-hop retrieval, answer complex questions, and control agent loops. Within minutes of compiling, a few lines of DSPy allow GPT-3.5 and llama2-13b-chat to self-bootstrap pipelines that outperform standard few-shot prompting (generally by over 25% and 65%, respectively) and pipelines with expert-created demonstrations (by up to 5-46% and 16-40%, respectively). On top of that, DSPy programs compiled to open and relatively small LMs like 770M-parameter T5 and llama2-13b-chat are competitive with approaches that rely on expert-written prompt chains for proprietary GPT-3.5. DSPy is available at https://github.com/stanfordnlp/dspy

GelFlow: Self-supervised Learning of Optical Flow for Vision-Based Tactile Sensor Displacement Measurement

High-resolution multi-modality information acquired by vision-based tactile sensors can support more dexterous manipulations for robot fingers. Optical flow is low-level information directly obtained by vision-based tactile sensors, which can be transformed into other modalities like force, geometry and depth. Current vision-tactile sensors employ optical flow methods from OpenCV to estimate the deformation of markers in gels. However, these methods need to be more precise for accurately measuring the displacement of markers during large elastic deformation of the gel, as this can significantly impact the accuracy of downstream tasks. This study proposes a self-supervised optical flow method based on deep learning to achieve high accuracy in displacement measurement for vision-based tactile sensors. The proposed method employs a coarse-to-fine strategy to handle large deformations by constructing a multi-scale feature pyramid from the input image. To better deal with the elastic deformation caused by the gel, the Helmholtz velocity decomposition constraint combined with the elastic deformation constraint are adopted to address the distortion rate and area change rate, respectively. A local flow fusion module is designed to smooth the optical flow, taking into account the prior knowledge of the blurred effect of gel deformation. We trained the proposed self-supervised network using an open-source dataset and compared it with traditional and deep learning-based optical flow methods. The results show that the proposed method achieved the highest displacement measurement accuracy, thereby demonstrating its potential for enabling more precise measurement of downstream tasks using vision-based tactile sensors.

Incorporating Pre-trained Model Prompting in Multimodal Stock Volume Movement Prediction

Multimodal stock trading volume movement prediction with stock-related news is one of the fundamental problems in the financial area. Existing multimodal works that train models from scratch face the problem of lacking universal knowledge when modeling financial news. In addition, the models ability may be limited by the lack of domain-related knowledge due to insufficient data in the datasets. To handle this issue, we propose the Prompt-based MUltimodal Stock volumE prediction model (ProMUSE) to process text and time series modalities. We use pre-trained language models for better comprehension of financial news and adopt prompt learning methods to leverage their capability in universal knowledge to model textual information. Besides, simply fusing two modalities can cause harm to the unimodal representations. Thus, we propose a novel cross-modality contrastive alignment while reserving the unimodal heads beside the fusion head to mitigate this problem. Extensive experiments demonstrate that our proposed ProMUSE outperforms existing baselines. Comprehensive analyses further validate the effectiveness of our architecture compared to potential variants and learning mechanisms.

Continuous Layout Editing of Single Images with Diffusion Models

Recent advancements in large-scale text-to-image diffusion models have enabled many applications in image editing. However, none of these methods have been able to edit the layout of single existing images. To address this gap, we propose the first framework for layout editing of a single image while preserving its visual properties, thus allowing for continuous editing on a single image. Our approach is achieved through two key modules. First, to preserve the characteristics of multiple objects within an image, we disentangle the concepts of different objects and embed them into separate textual tokens using a novel method called masked textual inversion. Next, we propose a training-free optimization method to perform layout control for a pre-trained diffusion model, which allows us to regenerate images with learned concepts and align them with user-specified layouts. As the first framework to edit the layout of existing images, we demonstrate that our method is effective and outperforms other baselines that were modified to support this task. Our code will be freely available for public use upon acceptance.

TransAct: Transformer-based Realtime User Action Model for Recommendation at Pinterest

Sequential models that encode user activity for next action prediction have become a popular design choice for building web-scale personalized recommendation systems. Traditional methods of sequential recommendation either utilize end-to-end learning on realtime user actions, or learn user representations separately in an offline batch-generated manner. This paper (1) presents Pinterest's ranking architecture for Homefeed, our personalized recommendation product and the largest engagement surface; (2) proposes TransAct, a sequential model that extracts users' short-term preferences from their realtime activities; (3) describes our hybrid approach to ranking, which combines end-to-end sequential modeling via TransAct with batch-generated user embeddings. The hybrid approach allows us to combine the advantages of responsiveness from learning directly on realtime user activity with the cost-effectiveness of batch user representations learned over a longer time period. We describe the results of ablation studies, the challenges we faced during productionization, and the outcome of an online A/B experiment, which validates the effectiveness of our hybrid ranking model. We further demonstrate the effectiveness of TransAct on other surfaces such as contextual recommendations and search. Our model has been deployed to production in Homefeed, Related Pins, Notifications, and Search at Pinterest.

Diffusion Theory as a Scalpel: Detecting and Purifying Poisonous Dimensions in Pre-trained Language Models Caused by Backdoor or Bias

Pre-trained Language Models (PLMs) may be poisonous with backdoors or bias injected by the suspicious attacker during the fine-tuning process. A core challenge of purifying potentially poisonous PLMs is precisely finding poisonous dimensions. To settle this issue, we propose the Fine-purifying approach, which utilizes the diffusion theory to study the dynamic process of fine-tuning for finding potentially poisonous dimensions. According to the relationship between parameter drifts and Hessians of different dimensions, we can detect poisonous dimensions with abnormal dynamics, purify them by resetting them to clean pre-trained weights, and then fine-tune the purified weights on a small clean dataset. To the best of our knowledge, we are the first to study the dynamics guided by the diffusion theory for safety or defense purposes. Experimental results validate the effectiveness of Fine-purifying even with a small clean dataset.