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Large Language Models (LLMs) have emerged as a new paradigm for embodied reasoning and control, most recently by generating robot policy code that utilizes a custom library of vision and control primitive skills. However, prior arts fix their skills library and steer the LLM with carefully hand-crafted prompt engineering, limiting the agent to a stationary range of addressable tasks. In this work, we introduce LRLL, an LLM-based lifelong learning agent that continuously grows the robot skill library to tackle manipulation tasks of ever-growing complexity. LRLL achieves this with four novel contributions: 1) a soft memory module that allows dynamic storage and retrieval of past experiences to serve as context, 2) a self-guided exploration policy that proposes new tasks in simulation, 3) a skill abstractor that distills recent experiences into new library skills, and 4) a lifelong learning algorithm for enabling human users to bootstrap new skills with minimal online interaction. LRLL continuously transfers knowledge from the memory to the library, building composable, general and interpretable policies, while bypassing gradient-based optimization, thus relieving the learner from catastrophic forgetting. Empirical evaluation in a simulated tabletop environment shows that LRLL outperforms end-to-end and vanilla LLM approaches in the lifelong setup while learning skills that are transferable to the real world. Project material will become available at the webpage //gtziafas.github.io/LRLL_project.

Entity Linking (EL) models are well-trained at mapping mentions to their corresponding entities according to a given context. However, EL models struggle to disambiguate long-tail entities due to their limited training data. Meanwhile, large language models (LLMs) are more robust at interpreting uncommon mentions. Yet, due to a lack of specialized training, LLMs suffer at generating correct entity IDs. Furthermore, training an LLM to perform EL is cost-intensive. Building upon these insights, we introduce LLM-Augmented Entity Linking LLMAEL, a plug-and-play approach to enhance entity linking through LLM data augmentation. We leverage LLMs as knowledgeable context augmenters, generating mention-centered descriptions as additional input, while preserving traditional EL models for task specific processing. Experiments on 6 standard datasets show that the vanilla LLMAEL outperforms baseline EL models in most cases, while the fine-tuned LLMAEL set the new state-of-the-art results across all 6 benchmarks.

Codebook collapse is a common problem in training deep generative models with discrete representation spaces like Vector Quantized Variational Autoencoders (VQ-VAEs). We observe that the same problem arises for the alternatively designed discrete variational autoencoders (dVAEs) whose encoder directly learns a distribution over the codebook embeddings to represent the data. We hypothesize that using the softmax function to obtain a probability distribution causes the codebook collapse by assigning overconfident probabilities to the best matching codebook elements. In this paper, we propose a novel way to incorporate evidential deep learning (EDL) instead of softmax to combat the codebook collapse problem of dVAE. We evidentially monitor the significance of attaining the probability distribution over the codebook embeddings, in contrast to softmax usage. Our experiments using various datasets show that our model, called EdVAE, mitigates codebook collapse while improving the reconstruction performance, and enhances the codebook usage compared to dVAE and VQ-VAE based models. Our code can be found at //github.com/ituvisionlab/EdVAE .

Recently learned image compression (LIC) has achieved great progress and even outperformed the traditional approach using DCT or discrete wavelet transform (DWT). However, LIC mainly reduces spatial redundancy in the autoencoder networks and entropy coding, but has not fully removed the frequency-domain correlation explicitly as in DCT or DWT. To leverage the best of both worlds, we propose a surprisingly simple but efficient framework, which introduces the DWT to both the convolution layers and entropy coding of CNN-based LIC. First, in both the core and hyperprior autoencoder networks, we propose a Wavelet-domain Convolution (WeConv) module, which performs convolution after DWT, and then converts the data back to spatial domain via inverse DWT. This module is used at selected layers in a CNN network to reduce the frequency-domain correlation explicitly and make the signal sparser in DWT domain. We also propose a wavelet-domain Channel-wise Auto-Regressive entropy Model (WeChARM), where the output latent representations from the encoder network are first transformed by the DWT, before applying quantization and entropy coding, as in the traditional paradigm. Moreover, the entropy coding is split into two steps. We first code all low-frequency DWT coefficients, and then use them as prior to code high-frequency coefficients. The channel-wise entropy coding is further used in each step. By combining WeConv and WeChARM, the proposed WeConvene scheme achieves superior R-D performance compared to other state-of-the-art LIC methods as well as the latest H.266/VVC. For the Kodak dataset and the baseline network with -0.4% BD-Rate saving over H.266/VVC, introducing WeConv with the simplest Haar transform improves the saving to -4.7%. This is quite impressive given the simplicity of the Haar transform. Enabling Haar-based WeChARM entropy coding further boosts the saving to -8.2%.

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and mounting positions, existing methods exhibit significant performance disparities across different robotic platforms. To address this challenge, we propose RoboUniView in this paper, an innovative approach that decouples visual feature extraction from action learning. We first learn a unified view representation from multi-perspective views by pre-training on readily accessible data, and then derive actions from this unified view representation to control robotic manipulation. This unified view representation more accurately mirrors the physical world and is not constrained by the robotic platform's camera parameters. Thanks to this methodology, we achieve state-of-the-art performance on the demanding CALVIN benchmark, enhancing the success rate in the $D \to D$ setting from 93.0% to 96.2%, and in the $ABC \to D$ setting from 92.2% to 94.2%. Moreover, our model exhibits outstanding adaptability and flexibility: it maintains high performance under unseen camera parameters, can utilize multiple datasets with varying camera parameters, and is capable of joint cross-task learning across datasets. Code is provided for re-implementation. //github.com/liufanfanlff/RoboUniview

Embodied Artificial Intelligence (Embodied AI) is crucial for achieving Artificial General Intelligence (AGI) and serves as a foundation for various applications that bridge cyberspace and the physical world. Recently, the emergence of Multi-modal Large Models (MLMs) and World Models (WMs) have attracted significant attention due to their remarkable perception, interaction, and reasoning capabilities, making them a promising architecture for the brain of embodied agents. However, there is no comprehensive survey for Embodied AI in the era of MLMs. In this survey, we give a comprehensive exploration of the latest advancements in Embodied AI. Our analysis firstly navigates through the forefront of representative works of embodied robots and simulators, to fully understand the research focuses and their limitations. Then, we analyze four main research targets: 1) embodied perception, 2) embodied interaction, 3) embodied agent, and 4) sim-to-real adaptation, covering the state-of-the-art methods, essential paradigms, and comprehensive datasets. Additionally, we explore the complexities of MLMs in virtual and real embodied agents, highlighting their significance in facilitating interactions in dynamic digital and physical environments. Finally, we summarize the challenges and limitations of embodied AI and discuss their potential future directions. We hope this survey will serve as a foundational reference for the research community and inspire continued innovation. The associated project can be found at //github.com/HCPLab-SYSU/Embodied_AI_Paper_List.

Random Forest (RF) is a popular tree-ensemble method for supervised learning, prized for its ease of use and flexibility. Online RF models require to account for new training data to maintain model accuracy. This is particularly important in applications where data is periodically and sequentially generated over time in data streams, such as auto-driving systems, and credit card payments. In this setting, performing periodic model retraining with the old and new data accumulated is beneficial as it fully captures possible drifts in the data distribution over time. However, this is unpractical with state-of-the-art classical algorithms for RF as they scale linearly with the accumulated number of samples. We propose QC-Forest, a classical-quantum algorithm designed to time-efficiently retrain RF models in the streaming setting for multi-class classification and regression, achieving a runtime poly-logarithmic in the total number of accumulated samples. QC-Forest leverages Des-q, a quantum algorithm for single tree construction and retraining proposed by Kumar et al. by expanding to multi-class classification, as the original proposal was limited to binary classes, and introducing an exact classical method to replace an underlying quantum subroutine incurring a finite error, while maintaining the same poly-logarithmic dependence. Finally, we showcase that QC-Forest achieves competitive accuracy in comparison to state-of-the-art RF methods on widely used benchmark datasets with up to 80,000 samples, while significantly speeding up the model retrain.

Maximum-a-posteriori (MAP) decoding is the most widely used decoding strategy for neural machine translation (NMT) models. The underlying assumption is that model probability correlates well with human judgment, with better translations getting assigned a higher score by the model. However, research has shown that this assumption does not always hold, and generation quality can be improved by decoding to optimize a utility function backed by a metric or quality-estimation signal, as is done by Minimum Bayes Risk (MBR) or quality-aware decoding. The main disadvantage of these approaches is that they require an additional model to calculate the utility function during decoding, significantly increasing the computational cost. In this paper, we propose to make the NMT models themselves quality-aware by training them to estimate the quality of their own output. Using this approach for MBR decoding we can drastically reduce the size of the candidate list, resulting in a speed-up of two-orders of magnitude. When applying our method to MAP decoding we obtain quality gains similar or even superior to quality reranking approaches, but with the efficiency of single pass decoding.

Deep Learning has implemented a wide range of applications and has become increasingly popular in recent years. The goal of multimodal deep learning is to create models that can process and link information using various modalities. Despite the extensive development made for unimodal learning, it still cannot cover all the aspects of human learning. Multimodal learning helps to understand and analyze better when various senses are engaged in the processing of information. This paper focuses on multiple types of modalities, i.e., image, video, text, audio, body gestures, facial expressions, and physiological signals. Detailed analysis of past and current baseline approaches and an in-depth study of recent advancements in multimodal deep learning applications has been provided. A fine-grained taxonomy of various multimodal deep learning applications is proposed, elaborating on different applications in more depth. Architectures and datasets used in these applications are also discussed, along with their evaluation metrics. Last, main issues are highlighted separately for each domain along with their possible future research directions.

Graph Neural Networks (GNNs) have been studied from the lens of expressive power and generalization. However, their optimization properties are less well understood. We take the first step towards analyzing GNN training by studying the gradient dynamics of GNNs. First, we analyze linearized GNNs and prove that despite the non-convexity of training, convergence to a global minimum at a linear rate is guaranteed under mild assumptions that we validate on real-world graphs. Second, we study what may affect the GNNs' training speed. Our results show that the training of GNNs is implicitly accelerated by skip connections, more depth, and/or a good label distribution. Empirical results confirm that our theoretical results for linearized GNNs align with the training behavior of nonlinear GNNs. Our results provide the first theoretical support for the success of GNNs with skip connections in terms of optimization, and suggest that deep GNNs with skip connections would be promising in practice.