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We present Self-Adaptive Robust Attention for Robotics Transformers (SARA-RT): a new paradigm for addressing the emerging challenge of scaling up Robotics Transformers (RT) for on-robot deployment. SARA-RT relies on the new method of fine-tuning proposed by us, called up-training. It converts pre-trained or already fine-tuned Transformer-based robotic policies of quadratic time complexity (including massive billion-parameter vision-language-action models or VLAs), into their efficient linear-attention counterparts maintaining high quality. We demonstrate the effectiveness of SARA-RT by speeding up: (a) the class of recently introduced RT-2 models, the first VLA robotic policies pre-trained on internet-scale data, as well as (b) Point Cloud Transformer (PCT) robotic policies operating on large point clouds. We complement our results with the rigorous mathematical analysis providing deeper insight into the phenomenon of SARA.

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The burgeoning field of Artificial Intelligence Generated Content (AIGC) is witnessing rapid advancements, particularly in video generation. This paper introduces AIGCBench, a pioneering comprehensive and scalable benchmark designed to evaluate a variety of video generation tasks, with a primary focus on Image-to-Video (I2V) generation. AIGCBench tackles the limitations of existing benchmarks, which suffer from a lack of diverse datasets, by including a varied and open-domain image-text dataset that evaluates different state-of-the-art algorithms under equivalent conditions. We employ a novel text combiner and GPT-4 to create rich text prompts, which are then used to generate images via advanced Text-to-Image models. To establish a unified evaluation framework for video generation tasks, our benchmark includes 11 metrics spanning four dimensions to assess algorithm performance. These dimensions are control-video alignment, motion effects, temporal consistency, and video quality. These metrics are both reference video-dependent and video-free, ensuring a comprehensive evaluation strategy. The evaluation standard proposed correlates well with human judgment, providing insights into the strengths and weaknesses of current I2V algorithms. The findings from our extensive experiments aim to stimulate further research and development in the I2V field. AIGCBench represents a significant step toward creating standardized benchmarks for the broader AIGC landscape, proposing an adaptable and equitable framework for future assessments of video generation tasks. We have open-sourced the dataset and evaluation code on the project website: //www.benchcouncil.org/AIGCBench.

Recently, foundational models such as CLIP and SAM have shown promising performance for the task of Zero-Shot Anomaly Segmentation (ZSAS). However, either CLIP-based or SAM-based ZSAS methods still suffer from non-negligible key drawbacks: 1) CLIP primarily focuses on global feature alignment across different inputs, leading to imprecise segmentation of local anomalous parts; 2) SAM tends to generate numerous redundant masks without proper prompt constraints, resulting in complex post-processing requirements. In this work, we innovatively propose a CLIP and SAM collaboration framework called ClipSAM for ZSAS. The insight behind ClipSAM is to employ CLIP's semantic understanding capability for anomaly localization and rough segmentation, which is further used as the prompt constraints for SAM to refine the anomaly segmentation results. In details, we introduce a crucial Unified Multi-scale Cross-modal Interaction (UMCI) module for interacting language with visual features at multiple scales of CLIP to reason anomaly positions. Then, we design a novel Multi-level Mask Refinement (MMR) module, which utilizes the positional information as multi-level prompts for SAM to acquire hierarchical levels of masks and merges them. Extensive experiments validate the effectiveness of our approach, achieving the optimal segmentation performance on the MVTec-AD and VisA datasets.

With the rapid development of Large Language Models (LLMs), Retrieval-Augmented Generation (RAG) has become a predominant method in the field of professional knowledge-based question answering. Presently, major foundation model companies have opened up Embedding and Chat API interfaces, and frameworks like LangChain have already integrated the RAG process. It appears that the key models and steps in RAG have been resolved, leading to the question: are professional knowledge QA systems now approaching perfection? This article discovers that current primary methods depend on the premise of accessing high-quality text corpora. However, since professional documents are mainly stored in PDFs, the low accuracy of PDF parsing significantly impacts the effectiveness of professional knowledge-based QA. We conducted an empirical RAG experiment across hundreds of questions from the corresponding real-world professional documents. The results show that, ChatDOC, a RAG system equipped with a panoptic and pinpoint PDF parser, retrieves more accurate and complete segments, and thus better answers. Empirical experiments show that ChatDOC is superior to baseline on nearly 47% of questions, ties for 38% of cases, and falls short on only 15% of cases. It shows that we may revolutionize RAG with enhanced PDF structure recognition.

We propose Diffusion Inference-Time T-Optimization (DITTO), a general-purpose frame-work for controlling pre-trained text-to-music diffusion models at inference-time via optimizing initial noise latents. Our method can be used to optimize through any differentiable feature matching loss to achieve a target (stylized) output and leverages gradient checkpointing for memory efficiency. We demonstrate a surprisingly wide-range of applications for music generation including inpainting, outpainting, and looping as well as intensity, melody, and musical structure control - all without ever fine-tuning the underlying model. When we compare our approach against related training, guidance, and optimization-based methods, we find DITTO achieves state-of-the-art performance on nearly all tasks, including outperforming comparable approaches on controllability, audio quality, and computational efficiency, thus opening the door for high-quality, flexible, training-free control of diffusion models. Sound examples can be found at //DITTO-Music.github.io/web/.

We propose Constraint-Generation Policy Optimization (CGPO) for optimizing policy parameters within compact and interpretable policy classes for mixed discrete-continuous Markov Decision Processes (DC-MDPs). CGPO is not only able to provide bounded policy error guarantees over an infinite range of initial states for many DC-MDPs with expressive nonlinear dynamics, but it can also provably derive optimal policies in cases where it terminates with zero error. Furthermore, CGPO can generate worst-case state trajectories to diagnose policy deficiencies and provide counterfactual explanations of optimal actions. To achieve such results, CGPO proposes a bi-level mixed-integer nonlinear optimization framework for optimizing policies within defined expressivity classes (i.e. piecewise (non)-linear) and reduces it to an optimal constraint generation methodology that adversarially generates worst-case state trajectories. Furthermore, leveraging modern nonlinear optimizers, CGPO can obtain solutions with bounded optimality gap guarantees. We handle stochastic transitions through explicit marginalization (where applicable) or chance-constraints, providing high-probability policy performance guarantees. We also present a road-map for understanding the computational complexities associated with different expressivity classes of policy, reward, and transition dynamics. We experimentally demonstrate the applicability of CGPO in diverse domains, including inventory control, management of a system of water reservoirs, and physics control. In summary, we provide a solution for deriving structured, compact, and explainable policies with bounded performance guarantees, enabling worst-case scenario generation and counterfactual policy diagnostics.

We propose an efficient diffusion-based text-to-video super-resolution (SR) tuning approach that leverages the readily learned capacity of pixel level image diffusion model to capture spatial information for video generation. To accomplish this goal, we design an efficient architecture by inflating the weightings of the text-to-image SR model into our video generation framework. Additionally, we incorporate a temporal adapter to ensure temporal coherence across video frames. We investigate different tuning approaches based on our inflated architecture and report trade-offs between computational costs and super-resolution quality. Empirical evaluation, both quantitative and qualitative, on the Shutterstock video dataset, demonstrates that our approach is able to perform text-to-video SR generation with good visual quality and temporal consistency. To evaluate temporal coherence, we also present visualizations in video format in //drive.google.com/drive/folders/1YVc-KMSJqOrEUdQWVaI-Yfu8Vsfu_1aO?usp=sharing .

Knowledge Graph Embedding (KGE) aims to learn representations for entities and relations. Most KGE models have gained great success, especially on extrapolation scenarios. Specifically, given an unseen triple (h, r, t), a trained model can still correctly predict t from (h, r, ?), or h from (?, r, t), such extrapolation ability is impressive. However, most existing KGE works focus on the design of delicate triple modeling function, which mainly tells us how to measure the plausibility of observed triples, but offers limited explanation of why the methods can extrapolate to unseen data, and what are the important factors to help KGE extrapolate. Therefore in this work, we attempt to study the KGE extrapolation of two problems: 1. How does KGE extrapolate to unseen data? 2. How to design the KGE model with better extrapolation ability? For the problem 1, we first discuss the impact factors for extrapolation and from relation, entity and triple level respectively, propose three Semantic Evidences (SEs), which can be observed from train set and provide important semantic information for extrapolation. Then we verify the effectiveness of SEs through extensive experiments on several typical KGE methods. For the problem 2, to make better use of the three levels of SE, we propose a novel GNN-based KGE model, called Semantic Evidence aware Graph Neural Network (SE-GNN). In SE-GNN, each level of SE is modeled explicitly by the corresponding neighbor pattern, and merged sufficiently by the multi-layer aggregation, which contributes to obtaining more extrapolative knowledge representation. Finally, through extensive experiments on FB15k-237 and WN18RR datasets, we show that SE-GNN achieves state-of-the-art performance on Knowledge Graph Completion task and performs a better extrapolation ability.

Pre-trained Language Models (PLMs) have achieved great success in various Natural Language Processing (NLP) tasks under the pre-training and fine-tuning paradigm. With large quantities of parameters, PLMs are computation-intensive and resource-hungry. Hence, model pruning has been introduced to compress large-scale PLMs. However, most prior approaches only consider task-specific knowledge towards downstream tasks, but ignore the essential task-agnostic knowledge during pruning, which may cause catastrophic forgetting problem and lead to poor generalization ability. To maintain both task-agnostic and task-specific knowledge in our pruned model, we propose ContrAstive Pruning (CAP) under the paradigm of pre-training and fine-tuning. It is designed as a general framework, compatible with both structured and unstructured pruning. Unified in contrastive learning, CAP enables the pruned model to learn from the pre-trained model for task-agnostic knowledge, and fine-tuned model for task-specific knowledge. Besides, to better retain the performance of the pruned model, the snapshots (i.e., the intermediate models at each pruning iteration) also serve as effective supervisions for pruning. Our extensive experiments show that adopting CAP consistently yields significant improvements, especially in extremely high sparsity scenarios. With only 3% model parameters reserved (i.e., 97% sparsity), CAP successfully achieves 99.2% and 96.3% of the original BERT performance in QQP and MNLI tasks. In addition, our probing experiments demonstrate that the model pruned by CAP tends to achieve better generalization ability.

In recent years, Face Image Quality Assessment (FIQA) has become an indispensable part of the face recognition system to guarantee the stability and reliability of recognition performance in an unconstrained scenario. For this purpose, the FIQA method should consider both the intrinsic property and the recognizability of the face image. Most previous works aim to estimate the sample-wise embedding uncertainty or pair-wise similarity as the quality score, which only considers the information from partial intra-class. However, these methods ignore the valuable information from the inter-class, which is for estimating to the recognizability of face image. In this work, we argue that a high-quality face image should be similar to its intra-class samples and dissimilar to its inter-class samples. Thus, we propose a novel unsupervised FIQA method that incorporates Similarity Distribution Distance for Face Image Quality Assessment (SDD-FIQA). Our method generates quality pseudo-labels by calculating the Wasserstein Distance (WD) between the intra-class similarity distributions and inter-class similarity distributions. With these quality pseudo-labels, we are capable of training a regression network for quality prediction. Extensive experiments on benchmark datasets demonstrate that the proposed SDD-FIQA surpasses the state-of-the-arts by an impressive margin. Meanwhile, our method shows good generalization across different recognition systems.

We propose a novel single shot object detection network named Detection with Enriched Semantics (DES). Our motivation is to enrich the semantics of object detection features within a typical deep detector, by a semantic segmentation branch and a global activation module. The segmentation branch is supervised by weak segmentation ground-truth, i.e., no extra annotation is required. In conjunction with that, we employ a global activation module which learns relationship between channels and object classes in a self-supervised manner. Comprehensive experimental results on both PASCAL VOC and MS COCO detection datasets demonstrate the effectiveness of the proposed method. In particular, with a VGG16 based DES, we achieve an mAP of 81.7 on VOC2007 test and an mAP of 32.8 on COCO test-dev with an inference speed of 31.5 milliseconds per image on a Titan Xp GPU. With a lower resolution version, we achieve an mAP of 79.7 on VOC2007 with an inference speed of 13.0 milliseconds per image.

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