Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall outside the constraint manifold, or require significant iterative effort to correct. Given this, few solutions exist that present a constraint-satisfying trajectory for robots, in reasonable time and of low path cost. In this work, we present a transformer-based model for motion planning with task space constraints for manipulation systems. Vector Quantized-Motion Planning Transformer (VQ-MPT) is a recent learning-based model that reduces the search space for unconstrained planning for sampling-based motion planners. We propose to adapt a pre-trained VQ-MPT model to reduce the search space for constraint planning without retraining or finetuning the model. We also propose to update the neural network output to move sampling regions closer to the constraint manifold. Our experiments show how VQ-MPT improves planning times and accuracy compared to traditional planners in simulated and real-world environments. Unlike previous learning methods, which require task-related data, our method uses pre-trained neural network models and requires no additional data for training and finetuning the model making this a \textit{one-shot} process. We also tested our method on a physical Franka Panda robot with real-world sensor data, demonstrating the generalizability of our algorithm. We anticipate this approach to be an accessible and broadly useful for transferring learned neural planners to various robotic-environment interaction scenarios.
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ACM/IEEE第23屆模型驅動工程語言和系統國際會議，是模型驅動軟件和系統工程的首要會議系列，由ACM-SIGSOFT和IEEE-TCSE支持組織。自1998年以來，模型涵蓋了建模的各個方面，從語言和方法到工具和應用程序。模特的參加者來自不同的背景，包括研究人員、學者、工程師和工業專業人士。MODELS 2019是一個論壇，參與者可以圍繞建模和模型驅動的軟件和系統交流前沿研究成果和創新實踐經驗。今年的版本將為建模社區提供進一步推進建模基礎的機會，并在網絡物理系統、嵌入式系統、社會技術系統、云計算、大數據、機器學習、安全、開源等新興領域提出建模的創新應用以及可持續性。
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Large foundation models are becoming ubiquitous, but training them from scratch is prohibitively expensive. Thus, efficiently adapting these powerful models to downstream tasks is increasingly important. In this paper, we study a principled finetuning paradigm -- Orthogonal Finetuning (OFT) -- for downstream task adaptation. Despite demonstrating good generalizability, OFT still uses a fairly large number of trainable parameters due to the high dimensionality of orthogonal matrices. To address this, we start by examining OFT from an information transmission perspective, and then identify a few key desiderata that enable better parameter-efficiency. Inspired by how the Cooley-Tukey fast Fourier transform algorithm enables efficient information transmission, we propose an efficient orthogonal parameterization using butterfly structures. We apply this parameterization to OFT, creating a novel parameter-efficient finetuning method, called Orthogonal Butterfly (BOFT). By subsuming OFT as a special case, BOFT introduces a generalized orthogonal finetuning framework. Finally, we conduct an extensive empirical study of adapting large vision transformers, large language models, and text-to-image diffusion models to various downstream tasks in vision and language.
Sparse training has received an upsurging interest in machine learning due to its tantalizing saving potential for the entire training process as well as inference. Dynamic sparse training (DST), as a leading sparse training approach, can train deep neural networks at high sparsity from scratch to match the performance of their dense counterparts. However, most if not all DST prior arts demonstrate their effectiveness on unstructured sparsity with highly irregular sparse patterns, which receives limited support in common hardware. This limitation hinders the usage of DST in practice. In this paper, we propose Channel-aware dynamic sparse (Chase), which for the first time seamlessly translates the promise of unstructured dynamic sparsity to GPU-friendly channel-level sparsity (not fine-grained N:M or group sparsity) during one end-to-end training process, without any ad-hoc operations. The resulting small sparse networks can be directly accelerated by commodity hardware, without using any particularly sparsity-aware hardware accelerators. This appealing outcome is partially motivated by a hidden phenomenon of dynamic sparsity: off-the-shelf unstructured DST implicitly involves biased parameter reallocation across channels, with a large fraction of channels (up to 60%) being sparser than others. By progressively identifying and removing these channels during training, our approach translates unstructured sparsity to channel-wise sparsity. Our experimental results demonstrate that Chase achieves 1.7 X inference throughput speedup on common GPU devices without compromising accuracy with ResNet-50 on ImageNet. We release our codes in //github.com/luuyin/chase.
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity when handling objects. Such dexterity seems to derive from a robust understanding of object properties (such as weight, size, and shape), as well as a remarkable capacity to interact with them. Hand postures commonly demonstrate the influence of specific regions on objects that need to be grasped, especially when objects are partially visible. In this work, we leverage human-like object understanding by reconstructing and completing their full geometry from partial observations, and manipulating them using a 7-DoF anthropomorphic robot hand. Our approach has significantly improved the grasping success rates of baselines with only partial reconstruction by nearly 30% and achieved over 150 successful grasps with three different object categories. This demonstrates our approach's consistent ability to predict and execute grasping postures based on the completed object shapes from various directions and positions in real-world scenarios. Our work opens up new possibilities for enhancing robotic applications that require precise grasping and manipulation skills of real-world reconstructed objects.
Simulating dynamic physical interactions is a critical challenge across multiple scientific domains, with applications ranging from robotics to material science. For mesh-based simulations, Graph Network Simulators (GNSs) pose an efficient alternative to traditional physics-based simulators. Their inherent differentiability and speed make them particularly well-suited for inverse design problems. Yet, adapting to new tasks from limited available data is an important aspect for real-world applications that current methods struggle with. We frame mesh-based simulation as a meta-learning problem and use a recent Bayesian meta-learning method to improve GNSs adaptability to new scenarios by leveraging context data and handling uncertainties. Our approach, latent task-specific graph network simulator, uses non-amortized task posterior approximations to sample latent descriptions of unknown system properties. Additionally, we leverage movement primitives for efficient full trajectory prediction, effectively addressing the issue of accumulating errors encountered by previous auto-regressive methods. We validate the effectiveness of our approach through various experiments, performing on par with or better than established baseline methods. Movement primitives further allow us to accommodate various types of context data, as demonstrated through the utilization of point clouds during inference. By combining GNSs with meta-learning, we bring them closer to real-world applicability, particularly in scenarios with smaller datasets.
Human Pose (HP) estimation is actively researched because of its wide range of applications. However, even estimators pre-trained on large datasets may not perform satisfactorily due to a domain gap between the training and test data. To address this issue, we present our approach combining Active Learning (AL) and Transfer Learning (TL) to adapt HP estimators to individual video domains efficiently. For efficient learning, our approach quantifies (i) the estimation uncertainty based on the temporal changes in the estimated heatmaps and (ii) the unnaturalness in the estimated full-body HPs. These quantified criteria are then effectively combined with the state-of-the-art representativeness criterion to select uncertain and diverse samples for efficient HP estimator learning. Furthermore, we reconsider the existing Active Transfer Learning (ATL) method to introduce novel ideas related to the retraining methods and Stopping Criteria (SC). Experimental results demonstrate that our method enhances learning efficiency and outperforms comparative methods. Our code is publicly available at: //github.com/ImIntheMiddle/VATL4Pose-WACV2024
Advances in artificial intelligence often stem from the development of new environments that abstract real-world situations into a form where research can be done conveniently. This paper contributes such an environment based on ideas inspired by elementary Microeconomics. Agents learn to produce resources in a spatially complex world, trade them with one another, and consume those that they prefer. We show that the emergent production, consumption, and pricing behaviors respond to environmental conditions in the directions predicted by supply and demand shifts in Microeconomics. We also demonstrate settings where the agents' emergent prices for goods vary over space, reflecting the local abundance of goods. After the price disparities emerge, some agents then discover a niche of transporting goods between regions with different prevailing prices -- a profitable strategy because they can buy goods where they are cheap and sell them where they are expensive. Finally, in a series of ablation experiments, we investigate how choices in the environmental rewards, bartering actions, agent architecture, and ability to consume tradable goods can either aid or inhibit the emergence of this economic behavior. This work is part of the environment development branch of a research program that aims to build human-like artificial general intelligence through multi-agent interactions in simulated societies. By exploring which environment features are needed for the basic phenomena of elementary microeconomics to emerge automatically from learning, we arrive at an environment that differs from those studied in prior multi-agent reinforcement learning work along several dimensions. For example, the model incorporates heterogeneous tastes and physical abilities, and agents negotiate with one another as a grounded form of communication.
With the rise of powerful pre-trained vision-language models like CLIP, it becomes essential to investigate ways to adapt these models to downstream datasets. A recently proposed method named Context Optimization (CoOp) introduces the concept of prompt learning -- a recent trend in NLP -- to the vision domain for adapting pre-trained vision-language models. Specifically, CoOp turns context words in a prompt into a set of learnable vectors and, with only a few labeled images for learning, can achieve huge improvements over intensively-tuned manual prompts. In our study we identify a critical problem of CoOp: the learned context is not generalizable to wider unseen classes within the same dataset, suggesting that CoOp overfits base classes observed during training. To address the problem, we propose Conditional Context Optimization (CoCoOp), which extends CoOp by further learning a lightweight neural network to generate for each image an input-conditional token (vector). Compared to CoOp's static prompts, our dynamic prompts adapt to each instance and are thus less sensitive to class shift. Extensive experiments show that CoCoOp generalizes much better than CoOp to unseen classes, even showing promising transferability beyond a single dataset; and yields stronger domain generalization performance as well. Code is available at //github.com/KaiyangZhou/CoOp.
The development of unmanned aerial vehicles (UAVs) has been gaining momentum in recent years owing to technological advances and a significant reduction in their cost. UAV technology can be used in a wide range of domains, including communication, agriculture, security, and transportation. It may be useful to group the UAVs into clusters/flocks in certain domains, and various challenges associated with UAV usage can be alleviated by clustering. Several computational challenges arise in UAV flock management, which can be solved by using machine learning (ML) methods. In this survey, we describe the basic terms relating to UAVS and modern ML methods, and we provide an overview of related tutorials and surveys. We subsequently consider the different challenges that appear in UAV flocks. For each issue, we survey several machine learning-based methods that have been suggested in the literature to handle the associated challenges. Thereafter, we describe various open issues in which ML can be applied to solve the different challenges of flocks, and we suggest means of using ML methods for this purpose. This comprehensive review may be useful for both researchers and developers in providing a wide view of various aspects of state-of-the-art ML technologies that are applicable to flock management.
For better user experience and business effectiveness, Click-Through Rate (CTR) prediction has been one of the most important tasks in E-commerce. Although extensive CTR prediction models have been proposed, learning good representation of items from multimodal features is still less investigated, considering an item in E-commerce usually contains multiple heterogeneous modalities. Previous works either concatenate the multiple modality features, that is equivalent to giving a fixed importance weight to each modality; or learn dynamic weights of different modalities for different items through technique like attention mechanism. However, a problem is that there usually exists common redundant information across multiple modalities. The dynamic weights of different modalities computed by using the redundant information may not correctly reflect the different importance of each modality. To address this, we explore the complementarity and redundancy of modalities by considering modality-specific and modality-invariant features differently. We propose a novel Multimodal Adversarial Representation Network (MARN) for the CTR prediction task. A multimodal attention network first calculates the weights of multiple modalities for each item according to its modality-specific features. Then a multimodal adversarial network learns modality-invariant representations where a double-discriminators strategy is introduced. Finally, we achieve the multimodal item representations by combining both modality-specific and modality-invariant representations. We conduct extensive experiments on both public and industrial datasets, and the proposed method consistently achieves remarkable improvements to the state-of-the-art methods. Moreover, the approach has been deployed in an operational E-commerce system and online A/B testing further demonstrates the effectiveness.
Learning latent representations of nodes in graphs is an important and ubiquitous task with widespread applications such as link prediction, node classification, and graph visualization. Previous methods on graph representation learning mainly focus on static graphs, however, many real-world graphs are dynamic and evolve over time. In this paper, we present Dynamic Self-Attention Network (DySAT), a novel neural architecture that operates on dynamic graphs and learns node representations that capture both structural properties and temporal evolutionary patterns. Specifically, DySAT computes node representations by jointly employing self-attention layers along two dimensions: structural neighborhood and temporal dynamics. We conduct link prediction experiments on two classes of graphs: communication networks and bipartite rating networks. Our experimental results show that DySAT has a significant performance gain over several different state-of-the-art graph embedding baselines.
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