In this paper, we present a novel approach towards feasible dynamic grasping by leveraging Gaussian Process Distance Fields (GPDF), SE(3) equivariance, and Riemannian Mixture Models. We seek to improve the grasping capabilities of robots in dynamic tasks where objects may be moving. The proposed method combines object shape reconstruction, grasp sampling, and grasp pose selection to enable effective grasping in such scenarios. By utilizing GPDF, the approach accurately models the shape and physical properties of objects, allowing for precise grasp planning. SE(3) equivariance ensures that the sampled grasp poses are equivariant to the object's pose. Additionally, Riemannian Gaussian Mixture Models are employed to test reachability, providing a feasible and adaptable grasping strategy. The sampled feasible grasp poses are used as targets for novel task or joint space reactive controllers formulated by Gaussian Mixture Models and Gaussian Processes, respectively. Experimental results demonstrate the effectiveness of the proposed approach in generating feasible grasp poses and successful grasping in dynamic environments.
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In this paper, we present Jellyfish, an open-source LLM as a universal task solver for DP. Built on the Llama 2 13B model, Jellyfish is instruction-tuned with the datasets of several typical DP tasks including error detection, data imputation, schema matching, and entity matching, and delivers generalizability to other tasks. Remarkably, Jellyfish can operate on a local, single, and low-priced GPU with its 13 billion parameters, ensuring data security and enabling further tuning. Its proficiency in understanding natural language allows users to manually craft instructions for DP tasks. Unlike many existing methods that heavily rely on prior knowledge, Jellyfish acquires domain knowledge during its tuning process and integrates optional knowledge injection during inference. A distinctive feature of Jellyfish is its interpreter, which elucidates its output decisions. To construct Jellyfish, we develop a series of pre-tuning and DP-tuning techniques. Jellyfish is equipped with an instance serializer, which automatically translates raw data into model prompts, and a knowledge injector, which optionally introduces task- and dataset-specific knowledge to enhance DP performance. Our evaluation of Jellyfish, using a range of real datasets, shows its competitiveness compared to state-of-the-art methods and its strong generalizability to unseen tasks. Jellyfish's performance rivals that of GPT series models, and its interpreter offers enhanced reasoning capabilities compared to GPT-3.5. Furthermore, our evaluation highlights the effectiveness of the techniques employed in constructing Jellyfish. Our model is available at Hugging Face: //huggingface.co/NECOUDBFM/Jellyfish .
Through iterative, cross-disciplinary discussions, we define and propose next-steps for Human-centered Generative AI (HGAI). We contribute a comprehensive research agenda that lays out future directions of Generative AI spanning three levels: aligning with human values; assimilating human intents; and augmenting human abilities. By identifying these next-steps, we intend to draw interdisciplinary research teams to pursue a coherent set of emergent ideas in HGAI, focusing on their interested topics while maintaining a coherent big picture of the future work landscape.
Implicit representations such as Neural Radiance Fields (NeRF) have been shown to be very effective at novel view synthesis. However, these models typically require manual and careful human data collection for training. In this paper, we present AutoNeRF, a method to collect data required to train NeRFs using autonomous embodied agents. Our method allows an agent to explore an unseen environment efficiently and use the experience to build an implicit map representation autonomously. We compare the impact of different exploration strategies including handcrafted frontier-based exploration, end-to-end and modular approaches composed of trained high-level planners and classical low-level path followers. We train these models with different reward functions tailored to this problem and evaluate the quality of the learned representations on four different downstream tasks: classical viewpoint rendering, map reconstruction, planning, and pose refinement. Empirical results show that NeRFs can be trained on actively collected data using just a single episode of experience in an unseen environment, and can be used for several downstream robotic tasks, and that modular trained exploration models outperform other classical and end-to-end baselines. Finally, we show that AutoNeRF can reconstruct large-scale scenes, and is thus a useful tool to perform scene-specific adaptation as the produced 3D environment models can be loaded into a simulator to fine-tune a policy of interest.
Driver distraction is a principal cause of traffic accidents. In a study conducted by the National Highway Traffic Safety Administration, engaging in activities such as interacting with in-car menus, consuming food or beverages, or engaging in telephonic conversations while operating a vehicle can be significant sources of driver distraction. From this viewpoint, this paper introduces a novel method for detection of driver distraction using multi-view driver action images. The proposed method is a vision transformer-based framework with pose estimation and action inference, namely PoseViNet. The motivation for adding posture information is to enable the transformer to focus more on key features. As a result, the framework is more adept at identifying critical actions. The proposed framework is compared with various state-of-the-art models using SFD3 dataset representing 10 behaviors of drivers. It is found from the comparison that the PoseViNet outperforms these models. The proposed framework is also evaluated with the SynDD1 dataset representing 16 behaviors of driver. As a result, the PoseViNet achieves 97.55% validation accuracy and 90.92% testing accuracy with the challenging dataset.
In this paper, we present a novel approach using the Auto GPT system alongside Design Sprint methodology to facilitate board game creation for inexperienced users. We introduce the implementation of Auto GPT for generating diverse board games and the subsequent optimization process through a customized Design Sprint. A user study is conducted to investigate the playability and enjoyment of the generated games, revealing both successes and challenges in employing systems like Auto GPT for board game design. Insights and future research directions are proposed to overcome identified limitations and enhance computational-driven game creation.
This paper presents an exhaustive quantitative and qualitative evaluation of Large Language Models (LLMs) for Knowledge Graph (KG) construction and reasoning. We employ eight distinct datasets that encompass aspects including entity, relation and event extraction, link prediction, and question answering. Empirically, our findings suggest that GPT-4 outperforms ChatGPT in the majority of tasks and even surpasses fine-tuned models in certain reasoning and question-answering datasets. Moreover, our investigation extends to the potential generalization ability of LLMs for information extraction, which culminates in the presentation of the Virtual Knowledge Extraction task and the development of the VINE dataset. Drawing on these empirical findings, we further propose AutoKG, a multi-agent-based approach employing LLMs for KG construction and reasoning, which aims to chart the future of this field and offer exciting opportunities for advancement. We anticipate that our research can provide invaluable insights for future undertakings of KG\footnote{Code and datasets will be available in //github.com/zjunlp/AutoKG.
Text Classification is the most essential and fundamental problem in Natural Language Processing. While numerous recent text classification models applied the sequential deep learning technique, graph neural network-based models can directly deal with complex structured text data and exploit global information. Many real text classification applications can be naturally cast into a graph, which captures words, documents, and corpus global features. In this survey, we bring the coverage of methods up to 2023, including corpus-level and document-level graph neural networks. We discuss each of these methods in detail, dealing with the graph construction mechanisms and the graph-based learning process. As well as the technological survey, we look at issues behind and future directions addressed in text classification using graph neural networks. We also cover datasets, evaluation metrics, and experiment design and present a summary of published performance on the publicly available benchmarks. Note that we present a comprehensive comparison between different techniques and identify the pros and cons of various evaluation metrics in this survey.
This paper presents a comprehensive and practical guide for practitioners and end-users working with Large Language Models (LLMs) in their downstream natural language processing (NLP) tasks. We provide discussions and insights into the usage of LLMs from the perspectives of models, data, and downstream tasks. Firstly, we offer an introduction and brief summary of current GPT- and BERT-style LLMs. Then, we discuss the influence of pre-training data, training data, and test data. Most importantly, we provide a detailed discussion about the use and non-use cases of large language models for various natural language processing tasks, such as knowledge-intensive tasks, traditional natural language understanding tasks, natural language generation tasks, emergent abilities, and considerations for specific tasks.We present various use cases and non-use cases to illustrate the practical applications and limitations of LLMs in real-world scenarios. We also try to understand the importance of data and the specific challenges associated with each NLP task. Furthermore, we explore the impact of spurious biases on LLMs and delve into other essential considerations, such as efficiency, cost, and latency, to ensure a comprehensive understanding of deploying LLMs in practice. This comprehensive guide aims to provide researchers and practitioners with valuable insights and best practices for working with LLMs, thereby enabling the successful implementation of these models in a wide range of NLP tasks. A curated list of practical guide resources of LLMs, regularly updated, can be found at \url{//github.com/Mooler0410/LLMsPracticalGuide}.
In this paper, we propose a novel Feature Decomposition and Reconstruction Learning (FDRL) method for effective facial expression recognition. We view the expression information as the combination of the shared information (expression similarities) across different expressions and the unique information (expression-specific variations) for each expression. More specifically, FDRL mainly consists of two crucial networks: a Feature Decomposition Network (FDN) and a Feature Reconstruction Network (FRN). In particular, FDN first decomposes the basic features extracted from a backbone network into a set of facial action-aware latent features to model expression similarities. Then, FRN captures the intra-feature and inter-feature relationships for latent features to characterize expression-specific variations, and reconstructs the expression feature. To this end, two modules including an intra-feature relation modeling module and an inter-feature relation modeling module are developed in FRN. Experimental results on both the in-the-lab databases (including CK+, MMI, and Oulu-CASIA) and the in-the-wild databases (including RAF-DB and SFEW) show that the proposed FDRL method consistently achieves higher recognition accuracy than several state-of-the-art methods. This clearly highlights the benefit of feature decomposition and reconstruction for classifying expressions.
In this paper, we proposed to apply meta learning approach for low-resource automatic speech recognition (ASR). We formulated ASR for different languages as different tasks, and meta-learned the initialization parameters from many pretraining languages to achieve fast adaptation on unseen target language, via recently proposed model-agnostic meta learning algorithm (MAML). We evaluated the proposed approach using six languages as pretraining tasks and four languages as target tasks. Preliminary results showed that the proposed method, MetaASR, significantly outperforms the state-of-the-art multitask pretraining approach on all target languages with different combinations of pretraining languages. In addition, since MAML's model-agnostic property, this paper also opens new research direction of applying meta learning to more speech-related applications.
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