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Deep learning methods for perception are the cornerstone of many robotic systems. Despite their potential for impressive performance, obtaining real-world training data is expensive, and can be impractically difficult for some tasks. Sim-to-real transfer with domain randomization offers a potential workaround, but often requires extensive manual tuning and results in models that are brittle to distribution shift between sim and real. In this work, we introduce Composable Object Volume NeRF (COV-NeRF), an object-composable NeRF model that is the centerpiece of a real-to-sim pipeline for synthesizing training data targeted to scenes and objects from the real world. COV-NeRF extracts objects from real images and composes them into new scenes, generating photorealistic renderings and many types of 2D and 3D supervision, including depth maps, segmentation masks, and meshes. We show that COV-NeRF matches the rendering quality of modern NeRF methods, and can be used to rapidly close the sim-to-real gap across a variety of perceptual modalities.

Recent advances of locomotion controllers utilizing deep reinforcement learning (RL) have yielded impressive results in terms of achieving rapid and robust locomotion across challenging terrain, such as rugged rocks, non-rigid ground, and slippery surfaces. However, while these controllers primarily address challenges underneath the robot, relatively little research has investigated legged mobility through confined 3D spaces, such as narrow tunnels or irregular voids, which impose all-around constraints. The cyclic gait patterns resulted from existing RL-based methods to learn parameterized locomotion skills characterized by motion parameters, such as velocity and body height, may not be adequate to navigate robots through challenging confined 3D spaces, requiring both agile 3D obstacle avoidance and robust legged locomotion. Instead, we propose to learn locomotion skills end-to-end from goal-oriented navigation in confined 3D spaces. To address the inefficiency of tracking distant navigation goals, we introduce a hierarchical locomotion controller that combines a classical planner tasked with planning waypoints to reach a faraway global goal location, and an RL-based policy trained to follow these waypoints by generating low-level motion commands. This approach allows the policy to explore its own locomotion skills within the entire solution space and facilitates smooth transitions between local goals, enabling long-term navigation towards distant goals. In simulation, our hierarchical approach succeeds at navigating through demanding confined 3D environments, outperforming both pure end-to-end learning approaches and parameterized locomotion skills. We further demonstrate the successful real-world deployment of our simulation-trained controller on a real robot.

This work explores a closure task in comics, a medium where visual and textual elements are intricately intertwined. Specifically, Text-cloze refers to the task of selecting the correct text to use in a comic panel, given its neighboring panels. Traditional methods based on recurrent neural networks have struggled with this task due to limited OCR accuracy and inherent model limitations. We introduce a novel Multimodal Large Language Model (Multimodal-LLM) architecture, specifically designed for Text-cloze, achieving a 10% improvement over existing state-of-the-art models in both its easy and hard variants. Central to our approach is a Domain-Adapted ResNet-50 based visual encoder, fine-tuned to the comics domain in a self-supervised manner using SimCLR. This encoder delivers comparable results to more complex models with just one-fifth of the parameters. Additionally, we release new OCR annotations for this dataset, enhancing model input quality and resulting in another 1% improvement. Finally, we extend the task to a generative format, establishing new baselines and expanding the research possibilities in the field of comics analysis.

Recent work has demonstrated that fine-tuning is a promising approach to `unlearn' concepts from large language models. However, fine-tuning can be expensive, as it requires both generating a set of examples and running iterations of fine-tuning to update the model. In this work, we show that simple guardrail-based approaches such as prompting and filtering can achieve unlearning results comparable to fine-tuning. We recommend that researchers investigate these lightweight baselines when evaluating the performance of more computationally intensive fine-tuning methods. While we do not claim that methods such as prompting or filtering are universal solutions to the problem of unlearning, our work suggests the need for evaluation metrics that can better separate the power of guardrails vs. fine-tuning, and highlights scenarios where guardrails themselves may be advantageous for unlearning, such as in generating examples for fine-tuning or unlearning when only API access is available.

Linear structural causal models (SCMs) are used to express and analyse the relationships between random variables. Direct causal effects are represented as directed edges and confounding factors as bidirected edges. Identifying the causal parameters from correlations between the nodes is an open problem in artificial intelligence. In this paper, we study SCMs whose directed component forms a tree. Van der Zander et al. (AISTATS'22, PLMR 151, pp. 6770--6792, 2022) give a PSPACE-algorithm for the identification problem in this case, which is a significant improvement over the general Gr\"obner basis approach, which has doubly-exponential time complexity in the number of structural parameters. In this work, we present a randomized polynomial-time algorithm, which solves the identification problem for tree-shaped SCMs. For every structural parameter, our algorithms decides whether it is generically identifiable, generically 2-identifiable, or generically unidentifiable. (No other cases can occur.) In the first two cases, it provides one or two fractional affine square root terms of polynomials (FASTPs) for the corresponding parameter, respectively.

Although large language models (LLMs) are impressive in solving various tasks, they can quickly be outdated after deployment. Maintaining their up-to-date status is a pressing concern in the current era. This paper provides a comprehensive review of recent advances in aligning LLMs with the ever-changing world knowledge without re-training from scratch. We categorize research works systemically and provide in-depth comparisons and discussion. We also discuss existing challenges and highlight future directions to facilitate research in this field. We release the paper list at //github.com/hyintell/awesome-refreshing-llms

The generalization mystery in deep learning is the following: Why do over-parameterized neural networks trained with gradient descent (GD) generalize well on real datasets even though they are capable of fitting random datasets of comparable size? Furthermore, from among all solutions that fit the training data, how does GD find one that generalizes well (when such a well-generalizing solution exists)? We argue that the answer to both questions lies in the interaction of the gradients of different examples during training. Intuitively, if the per-example gradients are well-aligned, that is, if they are coherent, then one may expect GD to be (algorithmically) stable, and hence generalize well. We formalize this argument with an easy to compute and interpretable metric for coherence, and show that the metric takes on very different values on real and random datasets for several common vision networks. The theory also explains a number of other phenomena in deep learning, such as why some examples are reliably learned earlier than others, why early stopping works, and why it is possible to learn from noisy labels. Moreover, since the theory provides a causal explanation of how GD finds a well-generalizing solution when one exists, it motivates a class of simple modifications to GD that attenuate memorization and improve generalization. Generalization in deep learning is an extremely broad phenomenon, and therefore, it requires an equally general explanation. We conclude with a survey of alternative lines of attack on this problem, and argue that the proposed approach is the most viable one on this basis.

As an effective strategy, data augmentation (DA) alleviates data scarcity scenarios where deep learning techniques may fail. It is widely applied in computer vision then introduced to natural language processing and achieves improvements in many tasks. One of the main focuses of the DA methods is to improve the diversity of training data, thereby helping the model to better generalize to unseen testing data. In this survey, we frame DA methods into three categories based on the diversity of augmented data, including paraphrasing, noising, and sampling. Our paper sets out to analyze DA methods in detail according to the above categories. Further, we also introduce their applications in NLP tasks as well as the challenges.

Human-in-the-loop aims to train an accurate prediction model with minimum cost by integrating human knowledge and experience. Humans can provide training data for machine learning applications and directly accomplish some tasks that are hard for computers in the pipeline with the help of machine-based approaches. In this paper, we survey existing works on human-in-the-loop from a data perspective and classify them into three categories with a progressive relationship: (1) the work of improving model performance from data processing, (2) the work of improving model performance through interventional model training, and (3) the design of the system independent human-in-the-loop. Using the above categorization, we summarize major approaches in the field, along with their technical strengths/ weaknesses, we have simple classification and discussion in natural language processing, computer vision, and others. Besides, we provide some open challenges and opportunities. This survey intends to provide a high-level summarization for human-in-the-loop and motivates interested readers to consider approaches for designing effective human-in-the-loop solutions.

Generalization to out-of-distribution (OOD) data is a capability natural to humans yet challenging for machines to reproduce. This is because most learning algorithms strongly rely on the i.i.d.~assumption on source/target data, which is often violated in practice due to domain shift. Domain generalization (DG) aims to achieve OOD generalization by using only source data for model learning. Since first introduced in 2011, research in DG has made great progresses. In particular, intensive research in this topic has led to a broad spectrum of methodologies, e.g., those based on domain alignment, meta-learning, data augmentation, or ensemble learning, just to name a few; and has covered various vision applications such as object recognition, segmentation, action recognition, and person re-identification. In this paper, for the first time a comprehensive literature review is provided to summarize the developments in DG for computer vision over the past decade. Specifically, we first cover the background by formally defining DG and relating it to other research fields like domain adaptation and transfer learning. Second, we conduct a thorough review into existing methods and present a categorization based on their methodologies and motivations. Finally, we conclude this survey with insights and discussions on future research directions.