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The robotic manipulation of Deformable Linear Objects (DLOs) is a vital and challenging task that is important in many practical applications. Classical model-based approaches to this problem require an accurate model to capture how robot motions affect the deformation of the DLO. Nowadays, data-driven models offer the best tradeoff between quality and computation time. This paper analyzes several learning-based 3D models of the DLO and proposes a new one based on the Transformer architecture that achieves superior accuracy, even on the DLOs of different lengths, thanks to the proposed scaling method. Moreover, we introduce a data augmentation technique, which improves the prediction performance of almost all considered DLO data-driven models. Thanks to this technique, even a simple Multilayer Perceptron (MLP) achieves close to state-of-the-art performance while being significantly faster to evaluate. In the experiments, we compare the performance of the learning-based 3D models of the DLO on several challenging datasets quantitatively and demonstrate their applicability in the task of shaping a DLO.

Embodied AI is a crucial frontier in robotics, capable of planning and executing action sequences for robots to accomplish long-horizon tasks in physical environments. In this work, we introduce EmbodiedGPT, an end-to-end multi-modal foundation model for embodied AI, empowering embodied agents with multi-modal understanding and execution capabilities. To achieve this, we have made the following efforts: (i) We craft a large-scale embodied planning dataset, termed EgoCOT. The dataset consists of carefully selected videos from the Ego4D dataset, along with corresponding high-quality language instructions. Specifically, we generate a sequence of sub-goals with the "Chain of Thoughts" mode for effective embodied planning. (ii) We introduce an efficient training approach to EmbodiedGPT for high-quality plan generation, by adapting a 7B large language model (LLM) to the EgoCOT dataset via prefix tuning. (iii) We introduce a paradigm for extracting task-related features from LLM-generated planning queries to form a closed loop between high-level planning and low-level control. Extensive experiments show the effectiveness of EmbodiedGPT on embodied tasks, including embodied planning, embodied control, visual captioning, and visual question answering. Notably, EmbodiedGPT significantly enhances the success rate of the embodied control task by extracting more effective features. It has achieved a remarkable 1.6 times increase in success rate on the Franka Kitchen benchmark and a 1.3 times increase on the Meta-World benchmark, compared to the BLIP-2 baseline fine-tuned with the Ego4D dataset.

Human action recognition (HAR) is a high-level and significant research area in computer vision due to its ubiquitous applications. The main limitations of the current HAR models are their complex structures and lengthy training time. In this paper, we propose a simple yet versatile and effective end-to-end deep learning architecture, coined as TransNet, for HAR. TransNet decomposes the complex 3D-CNNs into 2D- and 1D-CNNs, where the 2D- and 1D-CNN components extract spatial features and temporal patterns in videos, respectively. Benefiting from its concise architecture, TransNet is ideally compatible with any pretrained state-of-the-art 2D-CNN models in other fields, being transferred to serve the HAR task. In other words, it naturally leverages the power and success of transfer learning for HAR, bringing huge advantages in terms of efficiency and effectiveness. Extensive experimental results and the comparison with the state-of-the-art models demonstrate the superior performance of the proposed TransNet in HAR in terms of flexibility, model complexity, training speed and classification accuracy.

Vision and Language Models (VLMs), such as CLIP, have enabled visual recognition of a potentially unlimited set of categories described by text prompts. However, for the best visual recognition performance, these models still require tuning to better fit the data distributions of the downstream tasks, in order to overcome the domain shift from the web-based pre-training data. Recently, it has been shown that it is possible to effectively tune VLMs without any paired data, and in particular to effectively improve VLMs visual recognition performance using text-only training data generated by Large Language Models (LLMs). In this paper, we dive deeper into this exciting text-only VLM training approach and explore ways it can be significantly further improved taking the specifics of the downstream task into account when sampling text data from LLMs. In particular, compared to the SOTA text-only VLM training approach, we demonstrate up to 8.4% performance improvement in (cross) domain-specific adaptation, up to 8.7% improvement in fine-grained recognition, and 3.1% overall average improvement in zero-shot classification compared to strong baselines.

Understanding relations between objects is crucial for understanding the semantics of a visual scene. It is also an essential step in order to bridge visual and language models. However, current state-of-the-art computer vision models still lack the ability to perform spatial reasoning well. Existing datasets mostly cover a relatively small number of spatial relations, all of which are static relations that do not intrinsically involve motion. In this paper, we propose the Spatial and Temporal Understanding of Prepositions Dataset (STUPD) -- a large-scale video dataset for understanding static and dynamic spatial relationships derived from prepositions of the English language. The dataset contains 150K visual depictions (videos and images), consisting of 30 distinct spatial prepositional senses, in the form of object interaction simulations generated synthetically using Unity3D. In addition to spatial relations, we also propose 50K visual depictions across 10 temporal relations, consisting of videos depicting event/time-point interactions. To our knowledge, no dataset exists that represents temporal relations through visual settings. In this dataset, we also provide 3D information about object interactions such as frame-wise coordinates, and descriptions of the objects used. The goal of this synthetic dataset is to help models perform better in visual relationship detection in real-world settings. We demonstrate an increase in the performance of various models over 2 real-world datasets (ImageNet-VidVRD and Spatial Senses) when pretrained on the STUPD dataset, in comparison to other pretraining datasets.

In this paper a new optical-computational method is introduced to unveil images of targets whose visibility is severely obscured by light scattering in dense, turbid media. The targets of interest are taken to be dynamic in that their optical properties are time-varying whether stationary in space or moving. The scheme, to our knowledge the first of its kind, is human vision inspired whereby diffuse photons collected from the turbid medium are first transformed to spike trains by a dynamic vision sensor as in the retina, and image reconstruction is then performed by a neuromorphic computing approach mimicking the brain. We combine benchtop experimental data in both reflection (backscattering) and transmission geometries with support from physics-based simulations to develop a neuromorphic computational model and then apply this for image reconstruction of different MNIST characters and image sets by a dedicated deep spiking neural network algorithm. Image reconstruction is achieved under conditions of turbidity where an original image is unintelligible to the human eye or a digital video camera, yet clearly and quantifiable identifiable when using the new neuromorphic computational approach.

Multimodality Representation Learning, as a technique of learning to embed information from different modalities and their correlations, has achieved remarkable success on a variety of applications, such as Visual Question Answering (VQA), Natural Language for Visual Reasoning (NLVR), and Vision Language Retrieval (VLR). Among these applications, cross-modal interaction and complementary information from different modalities are crucial for advanced models to perform any multimodal task, e.g., understand, recognize, retrieve, or generate optimally. Researchers have proposed diverse methods to address these tasks. The different variants of transformer-based architectures performed extraordinarily on multiple modalities. This survey presents the comprehensive literature on the evolution and enhancement of deep learning multimodal architectures to deal with textual, visual and audio features for diverse cross-modal and modern multimodal tasks. This study summarizes the (i) recent task-specific deep learning methodologies, (ii) the pretraining types and multimodal pretraining objectives, (iii) from state-of-the-art pretrained multimodal approaches to unifying architectures, and (iv) multimodal task categories and possible future improvements that can be devised for better multimodal learning. Moreover, we prepare a dataset section for new researchers that covers most of the benchmarks for pretraining and finetuning. Finally, major challenges, gaps, and potential research topics are explored. A constantly-updated paperlist related to our survey is maintained at //github.com/marslanm/multimodality-representation-learning.

Knowledge graph embedding (KGE) is a increasingly popular technique that aims to represent entities and relations of knowledge graphs into low-dimensional semantic spaces for a wide spectrum of applications such as link prediction, knowledge reasoning and knowledge completion. In this paper, we provide a systematic review of existing KGE techniques based on representation spaces. Particularly, we build a fine-grained classification to categorise the models based on three mathematical perspectives of the representation spaces: (1) Algebraic perspective, (2) Geometric perspective, and (3) Analytical perspective. We introduce the rigorous definitions of fundamental mathematical spaces before diving into KGE models and their mathematical properties. We further discuss different KGE methods over the three categories, as well as summarise how spatial advantages work over different embedding needs. By collating the experimental results from downstream tasks, we also explore the advantages of mathematical space in different scenarios and the reasons behind them. We further state some promising research directions from a representation space perspective, with which we hope to inspire researchers to design their KGE models as well as their related applications with more consideration of their mathematical space properties.

In pace with developments in the research field of artificial intelligence, knowledge graphs (KGs) have attracted a surge of interest from both academia and industry. As a representation of semantic relations between entities, KGs have proven to be particularly relevant for natural language processing (NLP), experiencing a rapid spread and wide adoption within recent years. Given the increasing amount of research work in this area, several KG-related approaches have been surveyed in the NLP research community. However, a comprehensive study that categorizes established topics and reviews the maturity of individual research streams remains absent to this day. Contributing to closing this gap, we systematically analyzed 507 papers from the literature on KGs in NLP. Our survey encompasses a multifaceted review of tasks, research types, and contributions. As a result, we present a structured overview of the research landscape, provide a taxonomy of tasks, summarize our findings, and highlight directions for future work.

We propose a novel attention gate (AG) model for medical imaging that automatically learns to focus on target structures of varying shapes and sizes. Models trained with AGs implicitly learn to suppress irrelevant regions in an input image while highlighting salient features useful for a specific task. This enables us to eliminate the necessity of using explicit external tissue/organ localisation modules of cascaded convolutional neural networks (CNNs). AGs can be easily integrated into standard CNN architectures such as the U-Net model with minimal computational overhead while increasing the model sensitivity and prediction accuracy. The proposed Attention U-Net architecture is evaluated on two large CT abdominal datasets for multi-class image segmentation. Experimental results show that AGs consistently improve the prediction performance of U-Net across different datasets and training sizes while preserving computational efficiency. The code for the proposed architecture is publicly available.