We explore the use of language as a perceptual representation for vision-and-language navigation. Our approach uses off-the-shelf vision systems (for image captioning and object detection) to convert an agent's egocentric panoramic view at each time step into natural language descriptions. We then finetune a pretrained language model to select an action, based on the current view and the trajectory history, that would best fulfill the navigation instructions. In contrast to the standard setup which adapts a pretrained language model to work directly with continuous visual features from pretrained vision models, our approach instead uses (discrete) language as the perceptual representation. We explore two use cases of our language-based navigation (LangNav) approach on the R2R vision-and-language navigation benchmark: generating synthetic trajectories from a prompted large language model (GPT-4) with which to finetune a smaller language model; and sim-to-real transfer where we transfer a policy learned on a simulated environment (ALFRED) to a real-world environment (R2R). Our approach is found to improve upon strong baselines that rely on visual features in settings where only a few gold trajectories (10-100) are available, demonstrating the potential of using language as a perceptual representation for navigation tasks.
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Deep neural networks (DNNs) have achieved tremendous success in artificial intelligence (AI) fields. However, DNN models can be easily illegally copied, redistributed, or abused by criminals, seriously damaging the interests of model inventors. The copyright protection of DNN models by neural network watermarking has been studied, but the establishment of a traceability mechanism for determining the authorized users of a leaked model is a new problem driven by the demand for AI services. Because the existing traceability mechanisms are used for models without watermarks, a small number of false-positives are generated. Existing black-box active protection schemes have loose authorization control and are vulnerable to forgery attacks. Therefore, based on the idea of black-box neural network watermarking with the video framing and image perceptual hash algorithm, a passive copyright protection and traceability framework PCPT is proposed that uses an additional class of DNN models, improving the existing traceability mechanism that yields a small number of false-positives. Based on an authorization control strategy and image perceptual hash algorithm, a DNN model active copyright protection and traceability framework ACPT is proposed. This framework uses the authorization control center constructed by the detector and verifier. This approach realizes stricter authorization control, which establishes a strong connection between users and model owners, improves the framework security, and supports traceability verification.
The performance of acoustic models degrades notably in noisy environments. Speech enhancement (SE) can be used as a front-end strategy to aid automatic speech recognition (ASR) systems. However, existing training objectives of SE methods are not fully effective at integrating speech-text and noisy-clean paired data for training toward unseen ASR systems. In this study, we propose a general denoising framework, D4AM, for various downstream acoustic models. Our framework fine-tunes the SE model with the backward gradient according to a specific acoustic model and the corresponding classification objective. In addition, our method aims to consider the regression objective as an auxiliary loss to make the SE model generalize to other unseen acoustic models. To jointly train an SE unit with regression and classification objectives, D4AM uses an adjustment scheme to directly estimate suitable weighting coefficients rather than undergoing a grid search process with additional training costs. The adjustment scheme consists of two parts: gradient calibration and regression objective weighting. The experimental results show that D4AM can consistently and effectively provide improvements to various unseen acoustic models and outperforms other combination setups. Specifically, when evaluated on the Google ASR API with real noisy data completely unseen during SE training, D4AM achieves a relative WER reduction of 24.65% compared with the direct feeding of noisy input. To our knowledge, this is the first work that deploys an effective combination scheme of regression (denoising) and classification (ASR) objectives to derive a general pre-processor applicable to various unseen ASR systems. Our code is available at //github.com/ChangLee0903/D4AM.
Large language models (LLMs) can potentially democratize access to medical knowledge. While many efforts have been made to harness and improve LLMs' medical knowledge and reasoning capacities, the resulting models are either closed-source (e.g., PaLM, GPT-4) or limited in scale (<= 13B parameters), which restricts their abilities. In this work, we improve access to large-scale medical LLMs by releasing MEDITRON: a suite of open-source LLMs with 7B and 70B parameters adapted to the medical domain. MEDITRON builds on Llama-2 (through our adaptation of Nvidia's Megatron-LM distributed trainer), and extends pretraining on a comprehensively curated medical corpus, including selected PubMed articles, abstracts, and internationally-recognized medical guidelines. Evaluations using four major medical benchmarks show significant performance gains over several state-of-the-art baselines before and after task-specific finetuning. Overall, MEDITRON achieves a 6% absolute performance gain over the best public baseline in its parameter class and 3% over the strongest baseline we finetuned from Llama-2. Compared to closed-source LLMs, MEDITRON-70B outperforms GPT-3.5 and Med-PaLM and is within 5% of GPT-4 and 10% of Med-PaLM-2. We release our code for curating the medical pretraining corpus and the MEDITRON model weights to drive open-source development of more capable medical LLMs.
Understanding how the 3D scene evolves is vital for making decisions in autonomous driving. Most existing methods achieve this by predicting the movements of object boxes, which cannot capture more fine-grained scene information. In this paper, we explore a new framework of learning a world model, OccWorld, in the 3D Occupancy space to simultaneously predict the movement of the ego car and the evolution of the surrounding scenes. We propose to learn a world model based on 3D occupancy rather than 3D bounding boxes and segmentation maps for three reasons: 1) expressiveness. 3D occupancy can describe the more fine-grained 3D structure of the scene; 2) efficiency. 3D occupancy is more economical to obtain (e.g., from sparse LiDAR points). 3) versatility. 3D occupancy can adapt to both vision and LiDAR. To facilitate the modeling of the world evolution, we learn a reconstruction-based scene tokenizer on the 3D occupancy to obtain discrete scene tokens to describe the surrounding scenes. We then adopt a GPT-like spatial-temporal generative transformer to generate subsequent scene and ego tokens to decode the future occupancy and ego trajectory. Extensive experiments on the widely used nuScenes benchmark demonstrate the ability of OccWorld to effectively model the evolution of the driving scenes. OccWorld also produces competitive planning results without using instance and map supervision. Code: //github.com/wzzheng/OccWorld.
Seamless human-robot manipulation in close proximity relies on accurate forecasts of human motion. While there has been significant progress in learning forecast models at scale, when applied to manipulation tasks, these models accrue high errors at critical transition points leading to degradation in downstream planning performance. Our key insight is that instead of predicting the most likely human motion, it is sufficient to produce forecasts that capture how future human motion would affect the cost of a robot's plan. We present ManiCast, a novel framework that learns cost-aware human forecasts and feeds them to a model predictive control planner to execute collaborative manipulation tasks. Our framework enables fluid, real-time interactions between a human and a 7-DoF robot arm across a number of real-world tasks such as reactive stirring, object handovers, and collaborative table setting. We evaluate both the motion forecasts and the end-to-end forecaster-planner system against a range of learned and heuristic baselines while additionally contributing new datasets. We release our code and datasets at //portal-cornell.github.io/manicast/.
Recent vision-language models have achieved tremendous progress far beyond what we ever expected. However, their computational costs are also dramatically growing with rapid development, especially for the large models. It makes model acceleration exceedingly critical in a scenario of limited resources. Although extensively studied for unimodal models, the acceleration for multimodal models, especially the vision-language Transformers, is relatively under-explored. To pursue more efficient and accessible vision-language Transformers, this paper introduces \textbf{Cross}-\textbf{G}uided \textbf{E}nsemble of \textbf{T}okens (\textbf{\emph{CrossGET}}), a universal acceleration framework for vision-language Transformers. This framework adaptively combines tokens through real-time, cross-modal guidance, thereby achieving substantial acceleration while keeping high performance. \textit{CrossGET} has two key innovations: 1) \textit{Cross-Guided Matching and Ensemble}. \textit{CrossGET} incorporates cross-modal guided token matching and ensemble to exploit cross-modal information effectively, only introducing cross-modal tokens with negligible extra parameters. 2) \textit{Complete-Graph Soft Matching}. In contrast to the existing bipartite soft matching approach, \textit{CrossGET} introduces a complete-graph soft matching policy to achieve more reliable token-matching results while maintaining parallelizability and high efficiency. Extensive experiments are conducted on various vision-language tasks, including image-text retrieval, visual reasoning, image captioning, and visual question answering. Performance on both classic multimodal architectures and emerging multimodal LLMs demonstrate the effectiveness and versatility of the proposed \textit{CrossGET} framework. The code will be at \url{//github.com/sdc17/CrossGET}.
Large Multimodal Models (LMMs) have shown promise in vision-language tasks but struggle with high-resolution input and detailed scene understanding. Addressing these challenges, we introduce Monkey to enhance LMM capabilities. Firstly, Monkey processes input images by dividing them into uniform patches, each matching the size (e.g., 448x448) used in the original training of the well-trained vision encoder. Equipped with individual adapter for each patch, Monkey can handle higher resolutions up to 1344x896 pixels, enabling the detailed capture of complex visual information. Secondly, it employs a multi-level description generation method, enriching the context for scene-object associations. This two-part strategy ensures more effective learning from generated data: the higher resolution allows for a more detailed capture of visuals, which in turn enhances the effectiveness of comprehensive descriptions. Extensive ablative results validate the effectiveness of our designs. Additionally, experiments on 18 datasets further demonstrate that Monkey surpasses existing LMMs in many tasks like Image Captioning and various Visual Question Answering formats. Specially, in qualitative tests focused on dense text question answering, Monkey has exhibited encouraging results compared with GPT4V. Code is available at //github.com/Yuliang-Liu/Monkey.
Recent work has proposed a methodology for the systematic evaluation of "Situated Language Understanding Agents"-agents that operate in rich linguistic and non-linguistic contexts-through testing them in carefully constructed interactive settings. Other recent work has argued that Large Language Models (LLMs), if suitably set up, can be understood as (simulators of) such agents. A connection suggests itself, which this paper explores: Can LLMs be evaluated meaningfully by exposing them to constrained game-like settings that are built to challenge specific capabilities? As a proof of concept, this paper investigates five interaction settings, showing that current chat-optimised LLMs are, to an extent, capable to follow game-play instructions. Both this capability and the quality of the game play, measured by how well the objectives of the different games are met, follows the development cycle, with newer models performing better. The metrics even for the comparatively simple example games are far from being saturated, suggesting that the proposed instrument will remain to have diagnostic value. Our general framework for implementing and evaluating games with LLMs is available at //github.com/clembench .
Following unprecedented success on the natural language tasks, Transformers have been successfully applied to several computer vision problems, achieving state-of-the-art results and prompting researchers to reconsider the supremacy of convolutional neural networks (CNNs) as {de facto} operators. Capitalizing on these advances in computer vision, the medical imaging field has also witnessed growing interest for Transformers that can capture global context compared to CNNs with local receptive fields. Inspired from this transition, in this survey, we attempt to provide a comprehensive review of the applications of Transformers in medical imaging covering various aspects, ranging from recently proposed architectural designs to unsolved issues. Specifically, we survey the use of Transformers in medical image segmentation, detection, classification, reconstruction, synthesis, registration, clinical report generation, and other tasks. In particular, for each of these applications, we develop taxonomy, identify application-specific challenges as well as provide insights to solve them, and highlight recent trends. Further, we provide a critical discussion of the field's current state as a whole, including the identification of key challenges, open problems, and outlining promising future directions. We hope this survey will ignite further interest in the community and provide researchers with an up-to-date reference regarding applications of Transformer models in medical imaging. Finally, to cope with the rapid development in this field, we intend to regularly update the relevant latest papers and their open-source implementations at \url{//github.com/fahadshamshad/awesome-transformers-in-medical-imaging}.
Many natural language processing tasks solely rely on sparse dependencies between a few tokens in a sentence. Soft attention mechanisms show promising performance in modeling local/global dependencies by soft probabilities between every two tokens, but they are not effective and efficient when applied to long sentences. By contrast, hard attention mechanisms directly select a subset of tokens but are difficult and inefficient to train due to their combinatorial nature. In this paper, we integrate both soft and hard attention into one context fusion model, "reinforced self-attention (ReSA)", for the mutual benefit of each other. In ReSA, a hard attention trims a sequence for a soft self-attention to process, while the soft attention feeds reward signals back to facilitate the training of the hard one. For this purpose, we develop a novel hard attention called "reinforced sequence sampling (RSS)", selecting tokens in parallel and trained via policy gradient. Using two RSS modules, ReSA efficiently extracts the sparse dependencies between each pair of selected tokens. We finally propose an RNN/CNN-free sentence-encoding model, "reinforced self-attention network (ReSAN)", solely based on ReSA. It achieves state-of-the-art performance on both Stanford Natural Language Inference (SNLI) and Sentences Involving Compositional Knowledge (SICK) datasets.
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