Humans can imagine goal states during planning and perform actions to match those goals. In this work, we propose Imagination Policy, a novel multi-task key-frame policy network for solving high-precision pick and place tasks. Instead of learning actions directly, Imagination Policy generates point clouds to imagine desired states which are then translated to actions using rigid action estimation. This transforms action inference into a local generative task. We leverage pick and place symmetries underlying the tasks in the generation process and achieve extremely high sample efficiency and generalizability to unseen configurations. Finally, we demonstrate state-of-the-art performance across various tasks on the RLbench benchmark compared with several strong baselines.
相關內容
In this work, we propose a training-free method to inject visual referring into Multimodal Large Language Models (MLLMs) through learnable visual token optimization. We observe the relationship between text prompt tokens and visual tokens in MLLMs, where attention layers model the connection between them. Our approach involves adjusting visual tokens from the MLP output during inference, controlling which text prompt tokens attend to which visual tokens. We optimize a learnable visual token based on an energy function, enhancing the strength of referential regions in the attention map. This enables detailed region description and reasoning without the need for substantial training costs or model retraining. Our method offers a promising direction for integrating referential abilities into MLLMs. Our method support referring with box, mask, scribble and point. The results demonstrate that our method exhibits controllability and interpretability.
We present Knesset-DictaBERT, a large Hebrew language model fine-tuned on the Knesset Corpus, which comprises Israeli parliamentary proceedings. The model is based on the DictaBERT architecture and demonstrates significant improvements in understanding parliamentary language according to the MLM task. We provide a detailed evaluation of the model's performance, showing improvements in perplexity and accuracy over the baseline DictaBERT model.
Scene Graph Generation (SGG) remains a challenging task due to its compositional property. Previous approaches improve prediction efficiency by learning in an end-to-end manner. However, these methods exhibit limited performance as they assume unidirectional conditioning between entities and predicates, leading to insufficient information interaction. To address this limitation, we propose a novel bidirectional conditioning factorization for SGG, introducing efficient interaction between entities and predicates. Specifically, we develop an end-to-end scene graph generation model, Bidirectional Conditioning Transformer (BCTR), to implement our factorization. BCTR consists of two key modules. First, the Bidirectional Conditioning Generator (BCG) facilitates multi-stage interactive feature augmentation between entities and predicates, enabling mutual benefits between the two predictions. Second, Random Feature Alignment (RFA) regularizes the feature space by distilling multi-modal knowledge from pre-trained models, enhancing BCTR's ability on tailed categories without relying on statistical priors. We conduct a series of experiments on Visual Genome and Open Image V6, demonstrating that BCTR achieves state-of-the-art performance on both benchmarks. The code will be available upon acceptance of the paper.
Neural Radiance Fields (NeRF) have emerged as a powerful paradigm for 3D scene representation, offering high-fidelity renderings and reconstructions from a set of sparse and unstructured sensor data. In the context of autonomous robotics, where perception and understanding of the environment are pivotal, NeRF holds immense promise for improving performance. In this paper, we present a comprehensive survey and analysis of the state-of-the-art techniques for utilizing NeRF to enhance the capabilities of autonomous robots. We especially focus on the perception, localization and navigation, and decision-making modules of autonomous robots and delve into tasks crucial for autonomous operation, including 3D reconstruction, segmentation, pose estimation, simultaneous localization and mapping (SLAM), navigation and planning, and interaction. Our survey meticulously benchmarks existing NeRF-based methods, providing insights into their strengths and limitations. Moreover, we explore promising avenues for future research and development in this domain. Notably, we discuss the integration of advanced techniques such as 3D Gaussian splatting (3DGS), large language models (LLM), and generative AIs, envisioning enhanced reconstruction efficiency, scene understanding, decision-making capabilities. This survey serves as a roadmap for researchers seeking to leverage NeRFs to empower autonomous robots, paving the way for innovative solutions that can navigate and interact seamlessly in complex environments.
Recent developments in Multimodal Large Language Models (MLLMs) have shown rapid progress, moving towards the goal of creating versatile MLLMs that understand inputs from various modalities. However, existing methods typically rely on joint training with paired multimodal instruction data, which is resource-intensive and challenging to extend to new modalities. In this paper, we propose a new paradigm through the model composition of existing MLLMs to create a new model that retains the modal understanding capabilities of each original model. Our basic implementation, NaiveMC, demonstrates the effectiveness of this paradigm by reusing modality encoders and merging LLM parameters. Furthermore, we introduce DAMC to address parameter interference and mismatch issues during the merging process, thereby enhancing the model performance. To facilitate research in this area, we propose MCUB, a benchmark for assessing ability of MLLMs to understand inputs from diverse modalities. Experiments on this benchmark and four other multimodal understanding tasks show significant improvements over baselines, proving that model composition can create a versatile model capable of processing inputs from multiple modalities.
This perspective piece calls for the study of the new field of Intersymbolic AI, by which we mean the combination of symbolic AI, whose building blocks have inherent significance/meaning, with subsymbolic AI, whose entirety creates significance/effect despite the fact that individual building blocks escape meaning. Canonical kinds of symbolic AI are logic, games and planning. Canonical kinds of subsymbolic AI are (un)supervised machine and reinforcement learning. Intersymbolic AI interlinks the worlds of symbolic AI with its compositional symbolic significance and meaning and of subsymbolic AI with its summative significance or effect to enable culminations of insights from both worlds by going between and across symbolic AI insights with subsymbolic AI techniques that are being helped by symbolic AI principles. For example, Intersymbolic AI may start with symbolic AI to understand a dynamic system, continue with subsymbolic AI to learn its control, and end with symbolic AI to safely use the outcome of the learned subsymbolic AI controller in the dynamic system. The way Intersymbolic AI combines both symbolic and subsymbolic AI to increase the effectiveness of AI compared to either kind of AI alone is likened to the way that the combination of both conscious and subconscious thought increases the effectiveness of human thought compared to either kind of thought alone. Some successful contributions to the Intersymbolic AI paradigm are surveyed here but many more are considered possible by advancing Intersymbolic AI.
In this work, we report our efforts to advance the standard operation procedure of developing Large Language Models (LLMs) or LLMs-based systems or services in industry. We introduce the concept of Large Language Model Development Lifecycle (LDLC) and then highlight the importance of consistency test in ensuring the delivery quality. The principled solution of consistency test, however, is usually overlooked by industrial practitioners and not urgent in academia, and current practical solutions are insufficiently rigours and labor-intensive. We thus propose a simple yet effective consistency test protocol, named SimCT. SimCT is mainly to proactively check the consistency across different development stages of "bare metal" LLMs or associated services without accessing the model artifacts, in an attempt to expedite the delivery by reducing the back-and-forth alignment communications among multiple teams involved in different development stages. Specifically, SimCT encompasses response-wise and model-wise tests. We implement the protocol with LightGBM and Student's t-test for two components respectively, and perform extensive experiments to substantiate the effectiveness of SimCT and the involved components.
Robots should personalize how they perform tasks to match the needs of individual human users. Today's robot achieve this personalization by asking for the human's feedback in the task space. For example, an autonomous car might show the human two different ways to decelerate at stoplights, and ask the human which of these motions they prefer. This current approach to personalization is indirect: based on the behaviors the human selects (e.g., decelerating slowly), the robot tries to infer their underlying preference (e.g., defensive driving). By contrast, our paper develops a learning and interface-based approach that enables humans to directly indicate their desired style. We do this by learning an abstract, low-dimensional, and continuous canonical space from human demonstration data. Each point in the canonical space corresponds to a different style (e.g., defensive or aggressive driving), and users can directly personalize the robot's behavior by simply clicking on a point. Given the human's selection, the robot then decodes this canonical style across each task in the dataset -- e.g., if the human selects a defensive style, the autonomous car personalizes its behavior to drive defensively when decelerating, passing other cars, or merging onto highways. We refer to our resulting approach as PECAN: Personalizing Robot Behaviors through a Learned Canonical Space. Our simulations and user studies suggest that humans prefer using PECAN to directly personalize robot behavior (particularly when those users become familiar with PECAN), and that users find the learned canonical space to be intuitive and consistent. See videos here: //youtu.be/wRJpyr23PKI
Data plays a fundamental role in the training of Large Language Models (LLMs). Effective data management, particularly in the formulation of a well-suited training dataset, holds significance for enhancing model performance and improving training efficiency during pretraining and supervised fine-tuning phases. Despite the considerable importance of data management, the current research community still falls short in providing a systematic analysis of the rationale behind management strategy selection, its consequential effects, methodologies for evaluating curated datasets, and the ongoing pursuit of improved strategies. Consequently, the exploration of data management has attracted more and more attention among the research community. This survey provides a comprehensive overview of current research in data management within both the pretraining and supervised fine-tuning stages of LLMs, covering various noteworthy aspects of data management strategy design: data quantity, data quality, domain/task composition, etc. Looking toward the future, we extrapolate existing challenges and outline promising directions for development in this field. Therefore, this survey serves as a guiding resource for practitioners aspiring to construct powerful LLMs through effective data management practices. The collection of the latest papers is available at //github.com/ZigeW/data_management_LLM.
With the bomb ignited by ChatGPT, Transformer-based Large Language Models (LLMs) have paved a revolutionary path toward Artificial General Intelligence (AGI) and have been applied in diverse areas as knowledge bases, human interfaces, and dynamic agents. However, a prevailing limitation exists: many current LLMs, constrained by resources, are primarily pre-trained on shorter texts, rendering them less effective for longer-context prompts, commonly encountered in real-world settings. In this paper, we present a comprehensive survey focusing on the advancement of model architecture in Transformer-based LLMs to optimize long-context capabilities across all stages from pre-training to inference. We firstly delineate and analyze the problems of handling long-context input and output with the current Transformer-based models. Then, we mainly offer a holistic taxonomy to navigate the landscape of Transformer upgrades on architecture to solve these problems. Afterward, we provide the investigation on wildly used evaluation necessities tailored for long-context LLMs, including datasets, metrics, and baseline models, as well as some amazing optimization toolkits like libraries, systems, and compilers to augment LLMs' efficiency and efficacy across different stages. Finally, we further discuss the predominant challenges and potential avenues for future research in this domain. Additionally, we have established a repository where we curate relevant literature with real-time updates at //github.com/Strivin0311/long-llms-learning.
小貼士
登錄享
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191