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In this report, we introduce InternVL 1.5, an open-source multimodal large language model (MLLM) to bridge the capability gap between open-source and proprietary commercial models in multimodal understanding. We introduce three simple improvements: (1) Strong Vision Encoder: we explored a continuous learning strategy for the large-scale vision foundation model -- InternViT-6B, boosting its visual understanding capabilities, and making it can be transferred and reused in different LLMs. (2) Dynamic High-Resolution: we divide images into tiles ranging from 1 to 40 of 448$\times$448 pixels according to the aspect ratio and resolution of the input images, which supports up to 4K resolution input. (3) High-Quality Bilingual Dataset: we carefully collected a high-quality bilingual dataset that covers common scenes, document images, and annotated them with English and Chinese question-answer pairs, significantly enhancing performance in OCR- and Chinese-related tasks. We evaluate InternVL 1.5 through a series of benchmarks and comparative studies. Compared to both open-source and proprietary models, InternVL 1.5 shows competitive performance, achieving state-of-the-art results in 8 of 18 benchmarks. Code has been released at //github.com/OpenGVLab/InternVL.

In this work, we aim to learn a unified vision-based policy for a multi-fingered robot hand to manipulate different objects in diverse poses. Though prior work has demonstrated that human videos can benefit policy learning, performance improvement has been limited by physically implausible trajectories extracted from videos. Moreover, reliance on privileged object information such as ground-truth object states further limits the applicability in realistic scenarios. To address these limitations, we propose a new framework ViViDex to improve vision-based policy learning from human videos. It first uses reinforcement learning with trajectory guided rewards to train state-based policies for each video, obtaining both visually natural and physically plausible trajectories from the video. We then rollout successful episodes from state-based policies and train a unified visual policy without using any privileged information. A coordinate transformation method is proposed to significantly boost the performance. We evaluate our method on three dexterous manipulation tasks and demonstrate a large improvement over state-of-the-art algorithms.

In this work, we aim to improve transparency and efficacy in human-robot collaboration by developing machine teaching algorithms suitable for groups with varied learning capabilities. While previous approaches focused on tailored approaches for teaching individuals, our method teaches teams with various compositions of diverse learners using team belief representations to address personalization challenges within groups. We investigate various group teaching strategies, such as focusing on individual beliefs or the group's collective beliefs, and assess their impact on learning robot policies for different team compositions. Our findings reveal that team belief strategies yield less variation in learning duration and better accommodate diverse teams compared to individual belief strategies, suggesting their suitability in mixed-proficiency settings with limited resources. Conversely, individual belief strategies provide a more uniform knowledge level, particularly effective for homogeneously inexperienced groups. Our study indicates that the teaching strategy's efficacy is significantly influenced by team composition and learner proficiency, highlighting the importance of real-time assessment of learner proficiency and adapting teaching approaches based on learner proficiency for optimal teaching outcomes.

In this work, we propose the integration of GLDPC codes with short polar-like component codes, termed GLDPC codes with polar component codes (GLDPC-PC). This approach leverages the good distance properties of polar-like codes and mitigates their high decoding latency in long block lengths. A recently proposed soft-input soft-output decoder for polar-like codes enables effective iterative belief propagation decoding for GLDPC-PC, ensuring a low error floor under additive white Gaussian noise channels. Simulation results demonstrate that GLDPC-PC codes achieve significant performance improvements in multiple-input multiple-output systems with iterative detection and decoding (IDD). The proposed GLDPC-PC codes and the IDD scheme can be applied to various scenarios.

With the continuous advancement of vision language models (VLMs) technology, remarkable research achievements have emerged in the dermatology field, the fourth most prevalent human disease category. However, despite these advancements, VLM still faces "hallucination" in dermatological diagnosis, and due to the inherent complexity of dermatological conditions, existing tools offer relatively limited support for user comprehension. We propose SkinGEN, a diagnosis-to-generation framework that leverages the stable diffusion (SD) method to generate reference demonstrations from diagnosis results provided by VLM, thereby enhancing the visual explainability for users. Through extensive experiments with Low-Rank Adaptation (LoRA), we identify optimal strategies for skin condition image generation. We conduct a user study with 32 participants evaluating both the system performance and explainability. Results demonstrate that SkinGEN significantly improves users' comprehension of VLM predictions and fosters increased trust in the diagnostic process. This work paves the way for more transparent and user-centric VLM applications in dermatology and beyond.

In this study, we assess the usability of interactive personal assistants (IPAs), such as Amazon Alexa, in a simulated kitchen smart home environment, with deaf and hard of hearing users. Participants engage in activities in a way that causes their hands to get dirty. With these dirty hands, they are tasked with two different input methods for IPAs: American Sign Language (ASL) in a Wizard-of-Oz design, and smart home apps with a touchscreen. Usability ratings show that participants significantly preferred ASL over touch-based apps with dirty hands, although not to a larger extent than in comparable previous work with clean hands. Participants also expressed significant enthusiasm for ASL-based IPA interaction in Netpromoter scores and in questions about their overall preferences. Preliminary observations further suggest that having dirty hands may affect the way people sign, which may pose challenges for building IPAs that natively support sign language input.

To achieve strong real world performance, neural networks must be trained on large, diverse datasets; however, obtaining and annotating such datasets is costly and time-consuming, particularly for 3D point clouds. In this paper, we describe Paved2Paradise, a simple, cost-effective approach for generating fully labeled, diverse, and realistic lidar datasets from scratch, all while requiring minimal human annotation. Our key insight is that, by deliberately collecting separate "background" and "object" datasets (i.e., "factoring the real world"), we can intelligently combine them to produce a combinatorially large and diverse training set. The Paved2Paradise pipeline thus consists of four steps: (1) collecting copious background data, (2) recording individuals from the desired object class(es) performing different behaviors in an isolated environment (like a parking lot), (3) bootstrapping labels for the object dataset, and (4) generating samples by placing objects at arbitrary locations in backgrounds. To demonstrate the utility of Paved2Paradise, we generated synthetic datasets for two tasks: (1) human detection in orchards (a task for which no public data exists) and (2) pedestrian detection in urban environments. Qualitatively, we find that a model trained exclusively on Paved2Paradise synthetic data is highly effective at detecting humans in orchards, including when individuals are heavily occluded by tree branches. Quantitatively, a model trained on Paved2Paradise data that sources backgrounds from KITTI performs comparably to a model trained on the actual dataset. These results suggest the Paved2Paradise synthetic data pipeline can help accelerate point cloud model development in sectors where acquiring lidar datasets has previously been cost-prohibitive.

In this study, we address the challenge of constructing continuous three-dimensional (3D) models that accurately represent uncertain surfaces, derived from noisy and incomplete LiDAR scanning data. Building upon our prior work, which utilized the Gaussian Process (GP) and Gaussian Mixture Model (GMM) for structured building models, we introduce a more generalized approach tailored for complex surfaces in urban scenes, where GMM Regression and GP with derivative observations are applied. A Hierarchical GMM (HGMM) is employed to optimize the number of GMM components and speed up the GMM training. With the prior map obtained from HGMM, GP inference is followed for the refinement of the final map. Our approach models the implicit surface of the geo-object and enables the inference of the regions that are not completely covered by measurements. The integration of GMM and GP yields well-calibrated uncertainty estimates alongside the surface model, enhancing both accuracy and reliability. The proposed method is evaluated on real data collected by a mobile mapping system. Compared to the performance in mapping accuracy and uncertainty quantification of other methods, such as Gaussian Process Implicit Surface map (GPIS) and log-Gaussian Process Implicit Surface map (Log-GPIS), the proposed method achieves lower RMSEs, higher log-likelihood values and lower computational costs for the evaluated datasets.

While graph neural networks (GNNs) have become the de-facto standard for graph-based node classification, they impose a strong assumption on the availability of sufficient labeled samples. This assumption restricts the classification performance of prevailing GNNs on many real-world applications suffering from low-data regimes. Specifically, features extracted from scarce labeled nodes could not provide sufficient supervision for the unlabeled samples, leading to severe over-fitting. In this work, we point out that leveraging subgraphs to capture long-range dependencies can augment the representation of a node with homophily properties, thus alleviating the low-data regime. However, prior works leveraging subgraphs fail to capture the long-range dependencies among nodes. To this end, we present a novel self-supervised learning framework, called multi-view subgraph neural networks (Muse), for handling long-range dependencies. In particular, we propose an information theory-based identification mechanism to identify two types of subgraphs from the views of input space and latent space, respectively. The former is to capture the local structure of the graph, while the latter captures the long-range dependencies among nodes. By fusing these two views of subgraphs, the learned representations can preserve the topological properties of the graph at large, including the local structure and long-range dependencies, thus maximizing their expressiveness for downstream node classification tasks. Experimental results show that Muse outperforms the alternative methods on node classification tasks with limited labeled data.

Machine learning techniques have deeply rooted in our everyday life. However, since it is knowledge- and labor-intensive to pursue good learning performance, human experts are heavily involved in every aspect of machine learning. In order to make machine learning techniques easier to apply and reduce the demand for experienced human experts, automated machine learning (AutoML) has emerged as a hot topic with both industrial and academic interest. In this paper, we provide an up to date survey on AutoML. First, we introduce and define the AutoML problem, with inspiration from both realms of automation and machine learning. Then, we propose a general AutoML framework that not only covers most existing approaches to date but also can guide the design for new methods. Subsequently, we categorize and review the existing works from two aspects, i.e., the problem setup and the employed techniques. Finally, we provide a detailed analysis of AutoML approaches and explain the reasons underneath their successful applications. We hope this survey can serve as not only an insightful guideline for AutoML beginners but also an inspiration for future research.