Robot manipulation relying on learned object-centric descriptors became popular in recent years. Visual descriptors can easily describe manipulation task objectives, they can be learned efficiently using self-supervision, and they can encode actuated and even non-rigid objects. However, learning robust, view-invariant keypoints in a self-supervised approach requires a meticulous data collection approach involving precise calibration and expert supervision. In this paper we introduce Cycle-Correspondence Loss (CCL) for view-invariant dense descriptor learning, which adopts the concept of cycle-consistency, enabling a simple data collection pipeline and training on unpaired RGB camera views. The key idea is to autonomously detect valid pixel correspondences by attempting to use a prediction over a new image to predict the original pixel in the original image, while scaling error terms based on the estimated confidence. Our evaluation shows that we outperform other self-supervised RGB-only methods, and approach performance of supervised methods, both with respect to keypoint tracking as well as for a robot grasping downstream task.
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Recent advances in large language models (LLMs) have increased the demand for comprehensive benchmarks to evaluate their capabilities as human-like agents. Existing benchmarks, while useful, often focus on specific application scenarios, emphasizing task completion but failing to dissect the underlying skills that drive these outcomes. This lack of granularity makes it difficult to deeply discern where failures stem from. Additionally, setting up these environments requires considerable effort, and issues of unreliability and reproducibility sometimes arise, especially in interactive tasks. To address these limitations, we introduce the Massive Multitask Agent Understanding (MMAU) benchmark, featuring comprehensive offline tasks that eliminate the need for complex environment setups. It evaluates models across five domains, including Tool-use, Directed Acyclic Graph (DAG) QA, Data Science and Machine Learning coding, Contest-level programming and Mathematics, and covers five essential capabilities: Understanding, Reasoning, Planning, Problem-solving, and Self-correction. With a total of 20 meticulously designed tasks encompassing over 3K distinct prompts, MMAU provides a comprehensive framework for evaluating the strengths and limitations of LLM agents. By testing 18 representative models on MMAU, we provide deep and insightful analyses. Ultimately, MMAU not only sheds light on the capabilities and limitations of LLM agents but also enhances the interpretability of their performance. Datasets and evaluation scripts of MMAU are released at //github.com/apple/axlearn/tree/main/docs/research/mmau.
Synergizing Knowledge Graphs with Large Language Models: A Comprehensive Review and Future Prospects
Recent advancements have witnessed the ascension of Large Language Models (LLMs), endowed with prodigious linguistic capabilities, albeit marred by shortcomings including factual inconsistencies and opacity. Conversely, Knowledge Graphs (KGs) harbor verifiable knowledge and symbolic reasoning prowess, thereby complementing LLMs' deficiencies. Against this backdrop, the synergy between KGs and LLMs emerges as a pivotal research direction. Our contribution in this paper is a comprehensive dissection of the latest developments in integrating KGs with LLMs. Through meticulous analysis of their confluence points and methodologies, we introduce a unifying framework designed to elucidate and stimulate further exploration among scholars engaged in cognate disciplines. This framework serves a dual purpose: it consolidates extant knowledge while simultaneously delineating novel avenues for real-world deployment, thereby amplifying the translational impact of academic research.
Temporal information is crucial for detecting occluded instances. Existing temporal representations have progressed from BEV or PV features to more compact query features. Compared to these aforementioned features, predictions offer the highest level of abstraction, providing explicit information. In the context of online vectorized HD map construction, this unique characteristic of predictions is potentially advantageous for long-term temporal modeling and the integration of map priors. This paper introduces PrevPredMap, a pioneering temporal modeling framework that leverages previous predictions for constructing online vectorized HD maps. We have meticulously crafted two essential modules for PrevPredMap: the previous-predictions-based query generator and the dynamic-position-query decoder. Specifically, the previous-predictions-based query generator is designed to separately encode different types of information from previous predictions, which are then effectively utilized by the dynamic-position-query decoder to generate current predictions. Furthermore, we have developed a dual-mode strategy to ensure PrevPredMap's robust performance across both single-frame and temporal modes. Extensive experiments demonstrate that PrevPredMap achieves state-of-the-art performance on the nuScenes and Argoverse2 datasets. Code will be available at //github.com/pnnnnnnn/PrevPredMap.
The constructive approach within Neural Combinatorial Optimization (NCO) treats a combinatorial optimization problem as a finite Markov decision process, where solutions are built incrementally through a sequence of decisions guided by a neural policy network. To train the policy, recent research is shifting toward a 'self-improved' learning methodology that addresses the limitations of reinforcement learning and supervised approaches. Here, the policy is iteratively trained in a supervised manner, with solutions derived from the current policy serving as pseudo-labels. The way these solutions are obtained from the policy determines the quality of the pseudo-labels. In this paper, we present a simple and problem-independent sequence decoding method for self-improved learning based on sampling sequences without replacement. We incrementally follow the best solution found and repeat the sampling process from intermediate partial solutions. By modifying the policy to ignore previously sampled sequences, we force it to consider only unseen alternatives, thereby increasing solution diversity. Experimental results for the Traveling Salesman and Capacitated Vehicle Routing Problem demonstrate its strong performance. Furthermore, our method outperforms previous NCO approaches on the Job Shop Scheduling Problem.
Humor, deeply rooted in societal meanings and cultural details, poses a unique challenge for machines. While advances have been made in natural language processing, real-world humor often thrives in a multi-modal context, encapsulated distinctively by memes. This paper poses a particular emphasis on the impact of multi-images on meme captioning. After that, we introduce the \textsc{XMeCap} framework, a novel approach that adopts supervised fine-tuning and reinforcement learning based on an innovative reward model, which factors in both global and local similarities between visuals and text. Our results, benchmarked against contemporary models, manifest a marked improvement in caption generation for both single-image and multi-image memes, as well as different meme categories. \textsc{XMeCap} achieves an average evaluation score of 75.85 for single-image memes and 66.32 for multi-image memes, outperforming the best baseline by 3.71\% and 4.82\%, respectively. This research not only establishes a new frontier in meme-related studies but also underscores the potential of machines in understanding and generating humor in a multi-modal setting.
Multimodal Large Language Models (MLLMs) have demonstrated remarkable multimodal emotion recognition capabilities, integrating multimodal cues from visual, acoustic, and linguistic contexts in the video to recognize human emotional states. However, existing methods ignore capturing local facial features of temporal dynamics of micro-expressions and do not leverage the contextual dependencies of the utterance-aware temporal segments in the video, thereby limiting their expected effectiveness to a certain extent. In this work, we propose MicroEmo, a time-sensitive MLLM aimed at directing attention to the local facial micro-expression dynamics and the contextual dependencies of utterance-aware video clips. Our model incorporates two key architectural contributions: (1) a global-local attention visual encoder that integrates global frame-level timestamp-bound image features with local facial features of temporal dynamics of micro-expressions; (2) an utterance-aware video Q-Former that captures multi-scale and contextual dependencies by generating visual token sequences for each utterance segment and for the entire video then combining them. Preliminary qualitative experiments demonstrate that in a new Explainable Multimodal Emotion Recognition (EMER) task that exploits multi-modal and multi-faceted clues to predict emotions in an open-vocabulary (OV) manner, MicroEmo demonstrates its effectiveness compared with the latest methods.
Over time, agriculture is the most consistent activity, and it evolves every day. It contributes to a vast majority of the Gross Domestic Product (GDP) of Nigeria but as ironic as it may be, there is still hunger in significant parts of the country due to low productivity in the agricultural sector and comparison to the geometric population growth. During the first half of 2022, agriculture contributed about 23% of the country's GDP while the industry and services sector had a share of the remaining 77%. This showed that with the high rate of agricultural activities, Nigeria has not achieved food security for the teeming population. and more productivity levels can be attained. Technology can/will assist Nigeria in overcoming global poverty and hunger quicker in both rural and urban areas. Today, there are many types of agricultural technologies available for farmers all over the world to increase productivity. Major technological advancements include indoor vertical farming, automation, robotics, livestock technology, modern greenhouse practices, precision agriculture, artificial intelligence, and blockchain. Mobile phones have one of the highest adoption rates of technologies developed within the last century. Digitalization will bring consumers and farmers closer together to access the shortest supply chain possible and reduce rural poverty and hunger. The paper will review the different agricultural technologies and propose a mobile solution, code Sell Harvest, to make farming more sustainable and secure food. Keywords: Sell Harvest, Agriculture, Technology, Artificial Intelligence, and Digital Farming.
Large language models demonstrate reasonable multilingual abilities, despite predominantly English-centric pretraining. However, the spontaneous multilingual alignment in these models is shown to be weak, leading to unsatisfactory cross-lingual transfer and knowledge sharing. Previous works attempt to address this issue by explicitly injecting multilingual alignment information during or after pretraining. Thus for the early stage in pretraining, the alignment is weak for sharing information or knowledge across languages. In this paper, we propose PreAlign, a framework that establishes multilingual alignment prior to language model pretraining. PreAlign injects multilingual alignment by initializing the model to generate similar representations of aligned words and preserves this alignment using a code-switching strategy during pretraining. Extensive experiments in a synthetic English to English-Clone setting demonstrate that PreAlign significantly outperforms standard multilingual joint training in language modeling, zero-shot cross-lingual transfer, and cross-lingual knowledge application. Further experiments in real-world scenarios further validate PreAlign's effectiveness across various model sizes.
Large Language Models (LLMs) have strong capabilities in code comprehension, but fine-tuning costs and semantic alignment issues limit their project-specific optimization; conversely, code models such CodeBERT are easy to fine-tune, but it is often difficult to learn vulnerability semantics from complex code languages. To address these challenges, this paper introduces the Multi-Model Collaborative Vulnerability Detection approach (M2CVD) that leverages the strong capability of analyzing vulnerability semantics from LLMs to improve the detection accuracy of code models. M2CVD employs a novel collaborative process: first enhancing the quality of vulnerability semantic description produced by LLMs through the understanding of project code by code models, and then using these improved vulnerability semantic description to boost the detection accuracy of code models. We demonstrated M2CVD's effectiveness on two real-world datasets, where M2CVD significantly outperformed the baseline. In addition, we demonstrate that the M2CVD collaborative method can extend to other different LLMs and code models to improve their accuracy in vulnerability detection tasks.
Automated Theorem Proving (ATP) faces challenges due to its complexity and computational demands. Recent work has explored using Large Language Models (LLMs) for ATP action selection, but these methods can be resource-intensive. This study introduces FEAS, an agent that enhances the COPRA in-context learning framework within Lean. FEAS refines prompt generation, response parsing, and incorporates domain-specific heuristics for functional equations. It introduces FunEq, a curated dataset of functional equation problems with varying difficulty. FEAS outperforms baselines on FunEq, particularly with the integration of domain-specific heuristics. The results demonstrate FEAS's effectiveness in generating and formalizing high-level proof strategies into Lean proofs, showcasing the potential of tailored approaches for specific ATP challenges.
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