Affordance detection and pose estimation are of great importance in many robotic applications. Their combination helps the robot gain an enhanced manipulation capability, in which the generated pose can facilitate the corresponding affordance task. Previous methods for affodance-pose joint learning are limited to a predefined set of affordances, thus limiting the adaptability of robots in real-world environments. In this paper, we propose a new method for language-conditioned affordance-pose joint learning in 3D point clouds. Given a 3D point cloud object, our method detects the affordance region and generates appropriate 6-DoF poses for any unconstrained affordance label. Our method consists of an open-vocabulary affordance detection branch and a language-guided diffusion model that generates 6-DoF poses based on the affordance text. We also introduce a new high-quality dataset for the task of language-driven affordance-pose joint learning. Intensive experimental results demonstrate that our proposed method works effectively on a wide range of open-vocabulary affordances and outperforms other baselines by a large margin. In addition, we illustrate the usefulness of our method in real-world robotic applications. Our code and dataset are publicly available at https://3DAPNet.github.io
Discrete audio representation, aka audio tokenization, has seen renewed interest driven by its potential to facilitate the application of text language modeling approaches in audio domain. To this end, various compression and representation-learning based tokenization schemes have been proposed. However, there is limited investigation into the performance of compression-based audio tokens compared to well-established mel-spectrogram features across various speaker and speech related tasks. In this paper, we evaluate compression based audio tokens on three tasks: Speaker Verification, Diarization and (Multi-lingual) Speech Recognition. Our findings indicate that (i) the models trained on audio tokens perform competitively, on average within $1\%$ of mel-spectrogram features for all the tasks considered, and do not surpass them yet. (ii) these models exhibit robustness for out-of-domain narrowband data, particularly in speaker tasks. (iii) audio tokens allow for compression to 20x compared to mel-spectrogram features with minimal loss of performance in speech and speaker related tasks, which is crucial for low bit-rate applications, and (iv) the examined Residual Vector Quantization (RVQ) based audio tokenizer exhibits a low-pass frequency response characteristic, offering a plausible explanation for the observed results, and providing insight for future tokenizer designs.
Highly specific datasets of scientific literature are important for both research and education. However, it is difficult to build such datasets at scale. A common approach is to build these datasets reductively by applying topic modeling on an established corpus and selecting specific topics. A more robust but time-consuming approach is to build the dataset constructively in which a subject matter expert (SME) handpicks documents. This method does not scale and is prone to error as the dataset grows. Here we showcase a new tool, based on machine learning, for constructively generating targeted datasets of scientific literature. Given a small initial "core" corpus of papers, we build a citation network of documents. At each step of the citation network, we generate text embeddings and visualize the embeddings through dimensionality reduction. Papers are kept in the dataset if they are "similar" to the core or are otherwise pruned through human-in-the-loop selection. Additional insight into the papers is gained through sub-topic modeling using SeNMFk. We demonstrate our new tool for literature review by applying it to two different fields in machine learning.
Large language models (LLMs) have demonstrated great potential in natural language processing tasks within the financial domain. In this work, we present a Chinese Financial Generative Pre-trained Transformer framework, named CFGPT, which includes a dataset~(CFData) for pre-training and supervised fine-tuning, a financial LLM~(CFLLM) to adeptly manage financial texts, and a deployment framework~(CFAPP) designed to navigate real-world financial applications. The CFData comprising both a pre-training dataset and a supervised fine-tuning dataset, where the pre-training dataset collates Chinese financial data and analytics, alongside a smaller subset of general-purpose text with 584M documents and 141B tokens in total, and the supervised fine-tuning dataset is tailored for six distinct financial tasks, embodying various facets of financial analysis and decision-making with 1.5M instruction pairs and 1.5B tokens in total. The CFLLM, which is based on InternLM-7B to balance the model capability and size, is trained on CFData in two stage, continued pre-training and supervised fine-tuning. The CFAPP is centered on large language models (LLMs) and augmented with additional modules to ensure multifaceted functionality in real-world application. Our codes are released at https://github.com/TongjiFinLab/CFGPT.
We present a novel integration of an instruction-tuned large language model (LLM) and end-to-end automatic speech recognition (ASR). Modern LLMs can perform a wide range of linguistic tasks within zero-shot learning when provided with a precise instruction or a prompt to guide the text generation process towards the desired task. We explore using this zero-shot capability of LLMs to extract linguistic information that can contribute to improving ASR performance. Specifically, we direct an LLM to correct grammatical errors in an ASR hypothesis and harness the embedded linguistic knowledge to conduct end-to-end ASR. The proposed model is built on the hybrid connectionist temporal classification (CTC) and attention architecture, where an instruction-tuned LLM (i.e., Llama2) is employed as a front-end of the decoder. An ASR hypothesis, subject to correction, is obtained from the encoder via CTC decoding, which is then fed into the LLM along with an instruction. The decoder subsequently takes as input the LLM embeddings to perform sequence generation, incorporating acoustic information from the encoder output. Experimental results and analyses demonstrate that the proposed integration yields promising performance improvements, and our approach largely benefits from LLM-based rescoring.
As video games evolve into expansive, detailed worlds, visual quality becomes essential, yet increasingly challenging. Traditional testing methods, limited by resources, face difficulties in addressing the plethora of potential bugs. Machine learning offers scalable solutions; however, heavy reliance on large labeled datasets remains a constraint. Addressing this challenge, we propose a novel method, utilizing unlabeled gameplay and domain-specific augmentations to generate datasets & self-supervised objectives used during pre-training or multi-task settings for downstream visual bug detection. Our methodology uses weak-supervision to scale datasets for the crafted objectives and facilitates both autonomous and interactive weak-supervision, incorporating unsupervised clustering and/or an interactive approach based on text and geometric prompts. We demonstrate on first-person player clipping/collision bugs (FPPC) within the expansive Giantmap game world, that our approach is very effective, improving over a strong supervised baseline in a practical, very low-prevalence, low data regime (0.336 $\rightarrow$ 0.550 F1 score). With just 5 labeled "good" exemplars (i.e., 0 bugs), our self-supervised objective alone captures enough signal to outperform the low-labeled supervised settings. Building on large-pretrained vision models, our approach is adaptable across various visual bugs. Our results suggest applicability in curating datasets for broader image and video tasks within video games beyond visual bugs.
Designing reward functions is a longstanding challenge in reinforcement learning (RL); it requires specialized knowledge or domain data, leading to high costs for development. To address this, we introduce Text2Reward, a data-free framework that automates the generation of dense reward functions based on large language models (LLMs). Given a goal described in natural language, Text2Reward generates dense reward functions as an executable program grounded in a compact representation of the environment. Unlike inverse RL and recent work that uses LLMs to write sparse reward codes, Text2Reward produces interpretable, free-form dense reward codes that cover a wide range of tasks, utilize existing packages, and allow iterative refinement with human feedback. We evaluate Text2Reward on two robotic manipulation benchmarks (ManiSkill2, MetaWorld) and two locomotion environments of MuJoCo. On 13 of the 17 manipulation tasks, policies trained with generated reward codes achieve similar or better task success rates and convergence speed than expert-written reward codes. For locomotion tasks, our method learns six novel locomotion behaviors with a success rate exceeding 94%. Furthermore, we show that the policies trained in the simulator with our method can be deployed in the real world. Finally, Text2Reward further improves the policies by refining their reward functions with human feedback. Video results are available at https://text-to-reward.github.io
Classifying research output into context-specific label taxonomies is a challenging and relevant downstream task, given the volume of existing and newly published articles. We propose a method to enhance the performance of article classification by enriching simple Graph Neural Networks (GNN) pipelines with edge-heterogeneous graph representations. SciBERT is used for node feature generation to capture higher-order semantics within the articles' textual metadata. Fully supervised transductive node classification experiments are conducted on the Open Graph Benchmark (OGB) ogbn-arxiv dataset and the PubMed diabetes dataset, augmented with additional metadata from Microsoft Academic Graph (MAG) and PubMed Central, respectively. The results demonstrate that edge-heterogeneous graphs consistently improve the performance of all GNN models compared to the edge-homogeneous graphs. The transformed data enable simple and shallow GNN pipelines to achieve results on par with more complex architectures. On ogbn-arxiv, we achieve a top-15 result in the OGB competition with a 2-layer GCN (accuracy 74.61%), being the highest-scoring solution with sub-1 million parameters. On PubMed, we closely trail SOTA GNN architectures using a 2-layer GraphSAGE by including additional co-authorship edges in the graph (accuracy 89.88%). The implementation is available at: $\href{https://github.com/lyvykhang/edgehetero-nodeproppred}{\text{https://github.com/lyvykhang/edgehetero-nodeproppred}}$.
What does it take to create the Babel Fish, a tool that can help individuals translate speech between any two languages? While recent breakthroughs in text-based models have pushed machine translation coverage beyond 200 languages, unified speech-to-speech translation models have yet to achieve similar strides. More specifically, conventional speech-to-speech translation systems rely on cascaded systems that perform translation progressively, putting high-performing unified systems out of reach. To address these gaps, we introduce SeamlessM4T, a single model that supports speech-to-speech translation, speech-to-text translation, text-to-speech translation, text-to-text translation, and automatic speech recognition for up to 100 languages. To build this, we used 1 million hours of open speech audio data to learn self-supervised speech representations with w2v-BERT 2.0. Subsequently, we created a multimodal corpus of automatically aligned speech translations. Filtered and combined with human-labeled and pseudo-labeled data, we developed the first multilingual system capable of translating from and into English for both speech and text. On FLEURS, SeamlessM4T sets a new standard for translations into multiple target languages, achieving an improvement of 20% BLEU over the previous SOTA in direct speech-to-text translation. Compared to strong cascaded models, SeamlessM4T improves the quality of into-English translation by 1.3 BLEU points in speech-to-text and by 2.6 ASR-BLEU points in speech-to-speech. Tested for robustness, our system performs better against background noises and speaker variations in speech-to-text tasks compared to the current SOTA model. Critically, we evaluated SeamlessM4T on gender bias and added toxicity to assess translation safety. Finally, all contributions in this work are open-sourced and accessible at https://github.com/facebookresearch/seamless_communication
Large-scale self-supervised pre-trained speech encoders outperform conventional approaches in speech recognition and translation tasks. Due to the high cost of developing these large models, building new encoders for new tasks and deploying them to on-device applications are infeasible. Prior studies propose model compression methods to address this issue, but those works focus on smaller models and less realistic tasks. Thus, we propose Contrastive Layer-to-layer Distillation (CoLLD), a novel knowledge distillation method to compress pre-trained speech encoders by leveraging masked prediction and contrastive learning to train student models to copy the behavior of a large teacher model. CoLLD outperforms prior methods and closes the gap between small and large models on multilingual speech-to-text translation and recognition benchmarks.