Many real-world manipulation tasks consist of a series of subtasks that are significantly different from one another. Such long-horizon, complex tasks highlight the potential of dexterous hands, which possess adaptability and versatility, capable of seamlessly transitioning between different modes of functionality without the need for re-grasping or external tools. However, the challenges arise due to the high-dimensional action space of dexterous hand and complex compositional dynamics of the long-horizon tasks. We present Sequential Dexterity, a general system based on reinforcement learning (RL) that chains multiple dexterous policies for achieving long-horizon task goals. The core of the system is a transition feasibility function that progressively finetunes the sub-policies for enhancing chaining success rate, while also enables autonomous policy-switching for recovery from failures and bypassing redundant stages. Despite being trained only in simulation with a few task objects, our system demonstrates generalization capability to novel object shapes and is able to zero-shot transfer to a real-world robot equipped with a dexterous hand. Code and videos are available at //sequential-dexterity.github.io
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Click-through rate (CTR) prediction is one of the fundamental tasks for online advertising and recommendation. While multi-layer perceptron (MLP) serves as a core component in many deep CTR prediction models, it has been widely recognized that applying a vanilla MLP network alone is inefficient in learning multiplicative feature interactions. As such, many two-stream interaction models (e.g., DeepFM and DCN) have been proposed by integrating an MLP network with another dedicated network for enhanced CTR prediction. As the MLP stream learns feature interactions implicitly, existing research focuses mainly on enhancing explicit feature interactions in the complementary stream. In contrast, our empirical study shows that a well-tuned two-stream MLP model that simply combines two MLPs can even achieve surprisingly good performance, which has never been reported before by existing work. Based on this observation, we further propose feature gating and interaction aggregation layers that can be easily plugged to make an enhanced two-stream MLP model, FinalMLP. In this way, it not only enables differentiated feature inputs but also effectively fuses stream-level interactions across two streams. Our evaluation results on four open benchmark datasets as well as an online A/B test in our industrial system show that FinalMLP achieves better performance than many sophisticated two-stream CTR models. Our source code will be available at MindSpore/models.
The task of headline generation within the realm of Natural Language Processing (NLP) holds immense significance, as it strives to distill the true essence of textual content into concise and attention-grabbing summaries. While noteworthy progress has been made in headline generation for widely spoken languages like English, there persist numerous challenges when it comes to generating headlines in low-resource languages, such as the rich and diverse Indian languages. A prominent obstacle that specifically hinders headline generation in Indian languages is the scarcity of high-quality annotated data. To address this crucial gap, we proudly present Mukhyansh, an extensive multilingual dataset, tailored for Indian language headline generation. Comprising an impressive collection of over 3.39 million article-headline pairs, Mukhyansh spans across eight prominent Indian languages, namely Telugu, Tamil, Kannada, Malayalam, Hindi, Bengali, Marathi, and Gujarati. We present a comprehensive evaluation of several state-of-the-art baseline models. Additionally, through an empirical analysis of existing works, we demonstrate that Mukhyansh outperforms all other models, achieving an impressive average ROUGE-L score of 31.43 across all 8 languages.
Nowadays, short videos (SVs) are essential to information acquisition and sharing in our life. The prevailing use of SVs to spread emotions leads to the necessity of emotion recognition in SVs. Considering the lack of SVs emotion data, we introduce a large-scale dataset named eMotions, comprising 27,996 videos. Meanwhile, we alleviate the impact of subjectivities on labeling quality by emphasizing better personnel allocations and multi-stage annotations. In addition, we provide the category-balanced and test-oriented variants through targeted data sampling. Some commonly used videos (e.g., facial expressions and postures) have been well studied. However, it is still challenging to understand the emotions in SVs. Since the enhanced content diversity brings more distinct semantic gaps and difficulties in learning emotion-related features, and there exists information gaps caused by the emotion incompleteness under the prevalently audio-visual co-expressions. To tackle these problems, we present an end-to-end baseline method AV-CPNet that employs the video transformer to better learn semantically relevant representations. We further design the two-stage cross-modal fusion module to complementarily model the correlations of audio-visual features. The EP-CE Loss, incorporating three emotion polarities, is then applied to guide model optimization. Extensive experimental results on nine datasets verify the effectiveness of AV-CPNet. Datasets and code will be open on //github.com/XuecWu/eMotions.
Interactive intelligent computing applications are increasingly prevalent, creating a need for AI/ML platforms optimized to reduce per-event latency while maintaining high throughput and efficient resource management. Yet many intelligent applications run on AI/ML platforms that optimize for high throughput even at the cost of high tail-latency. Cascade is a new AI/ML hosting platform intended to untangle this puzzle. Innovations include a legacy-friendly storage layer that moves data with minimal copying and a "fast path" that collocates data and computation to maximize responsiveness. Our evaluation shows that Cascade reduces latency by orders of magnitude with no loss of throughput.
Current approaches for 3D human motion synthesis can generate high-quality 3D animations of digital humans performing a wide variety of actions and gestures. However, there is still a notable technological gap in addressing the complex dynamics of multi-human interactions within this paradigm. In this work, we introduce ReMoS, a denoising diffusion-based probabilistic model for reactive motion synthesis that explores two-person interactions. Given the motion of one person, we synthesize the reactive motion of the second person to complete the interactions between the two. In addition to synthesizing the full-body motions, we also synthesize plausible hand interactions. We show the performance of ReMoS under a wide range of challenging two-person scenarios including pair-dancing, Ninjutsu, kickboxing, and acrobatics, where one person's movements have complex and diverse influences on the motions of the other. We further propose the ReMoCap dataset for two-person interactions consisting of full-body and hand motions. We evaluate our approach through multiple quantitative metrics, qualitative visualizations, and a user study. Our results are usable in interactive applications while also providing an adequate amount of control for animators.
Controllable human motion synthesis is essential for applications in AR/VR, gaming, movies, and embodied AI. Existing methods often focus solely on either language or full trajectory control, lacking precision in synthesizing motions aligned with user-specified trajectories, especially for multi-joint control. To address these issues, we present TLControl, a new method for realistic human motion synthesis, incorporating both low-level trajectory and high-level language semantics controls. Specifically, we first train a VQ-VAE to learn a compact latent motion space organized by body parts. We then propose a Masked Trajectories Transformer to make coarse initial predictions of full trajectories of joints based on the learned latent motion space, with user-specified partial trajectories and text descriptions as conditioning. Finally, we introduce an efficient test-time optimization to refine these coarse predictions for accurate trajectory control. Experiments demonstrate that TLControl outperforms the state-of-the-art in trajectory accuracy and time efficiency, making it practical for interactive and high-quality animation generation.
Speech-driven 3D facial animation has been an attractive task in both academia and industry. Traditional methods mostly focus on learning a deterministic mapping from speech to animation. Recent approaches start to consider the non-deterministic fact of speech-driven 3D face animation and employ the diffusion model for the task. However, personalizing facial animation and accelerating animation generation are still two major limitations of existing diffusion-based methods. To address the above limitations, we propose DiffusionTalker, a diffusion-based method that utilizes contrastive learning to personalize 3D facial animation and knowledge distillation to accelerate 3D animation generation. Specifically, to enable personalization, we introduce a learnable talking identity to aggregate knowledge in audio sequences. The proposed identity embeddings extract customized facial cues across different people in a contrastive learning manner. During inference, users can obtain personalized facial animation based on input audio, reflecting a specific talking style. With a trained diffusion model with hundreds of steps, we distill it into a lightweight model with 8 steps for acceleration. Extensive experiments are conducted to demonstrate that our method outperforms state-of-the-art methods. The code will be released.
The application of artificial intelligence to simulate air-to-air combat scenarios is attracting increasing attention. To date the high-dimensional state and action spaces, the high complexity of situation information (such as imperfect and filtered information, stochasticity, incomplete knowledge about mission targets) and the nonlinear flight dynamics pose significant challenges for accurate air combat decision-making. These challenges are exacerbated when multiple heterogeneous agents are involved. We propose a hierarchical multi-agent reinforcement learning framework for air-to-air combat with multiple heterogeneous agents. In our framework, the decision-making process is divided into two stages of abstraction, where heterogeneous low-level policies control the action of individual units, and a high-level commander policy issues macro commands given the overall mission targets. Low-level policies are trained for accurate unit combat control. Their training is organized in a learning curriculum with increasingly complex training scenarios and league-based self-play. The commander policy is trained on mission targets given pre-trained low-level policies. The empirical validation advocates the advantages of our design choices.
Knowledge graphs are important resources for many artificial intelligence tasks but often suffer from incompleteness. In this work, we propose to use pre-trained language models for knowledge graph completion. We treat triples in knowledge graphs as textual sequences and propose a novel framework named Knowledge Graph Bidirectional Encoder Representations from Transformer (KG-BERT) to model these triples. Our method takes entity and relation descriptions of a triple as input and computes scoring function of the triple with the KG-BERT language model. Experimental results on multiple benchmark knowledge graphs show that our method can achieve state-of-the-art performance in triple classification, link prediction and relation prediction tasks.
ASR (automatic speech recognition) systems like Siri, Alexa, Google Voice or Cortana has become quite popular recently. One of the key techniques enabling the practical use of such systems in people's daily life is deep learning. Though deep learning in computer vision is known to be vulnerable to adversarial perturbations, little is known whether such perturbations are still valid on the practical speech recognition. In this paper, we not only demonstrate such attacks can happen in reality, but also show that the attacks can be systematically conducted. To minimize users' attention, we choose to embed the voice commands into a song, called CommandSong. In this way, the song carrying the command can spread through radio, TV or even any media player installed in the portable devices like smartphones, potentially impacting millions of users in long distance. In particular, we overcome two major challenges: minimizing the revision of a song in the process of embedding commands, and letting the CommandSong spread through the air without losing the voice "command". Our evaluation demonstrates that we can craft random songs to "carry" any commands and the modify is extremely difficult to be noticed. Specially, the physical attack that we play the CommandSongs over the air and record them can success with 94 percentage.
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