Dexterous manipulation tasks involving contact-rich interactions pose a significant challenge for both model-based control systems and imitation learning algorithms. The complexity arises from the need for multi-fingered robotic hands to dynamically establish and break contacts, balance non-prehensile forces, and control large degrees of freedom. Reinforcement learning (RL) offers a promising approach due to its general applicability and capacity to autonomously acquire optimal manipulation strategies. However, its real-world application is often hindered by the necessity to generate a large number of samples, reset the environment, and obtain reward signals. In this work, we introduce an efficient system for learning dexterous manipulation skills with RL to alleviate these challenges. The main idea of our approach is the integration of recent advances in sample-efficient RL and replay buffer bootstrapping. This combination allows us to utilize data from different tasks or objects as a starting point for training new tasks, significantly improving learning efficiency. Additionally, our system completes the real-world training cycle by incorporating learned resets via an imitation-based pickup policy as well as learned reward functions, eliminating the need for manual resets and reward engineering. We demonstrate the benefits of reusing past data as replay buffer initialization for new tasks, for instance, the fast acquisition of intricate manipulation skills in the real world on a four-fingered robotic hand. (Videos: //sites.google.com/view/reboot-dexterous)
相關內容
Most advanced unsupervised anomaly detection (UAD) methods rely on modeling feature representations of frozen encoder networks pre-trained on large-scale datasets, e.g. ImageNet. However, the features extracted from the encoders that are borrowed from natural image domains coincide little with the features required in the target UAD domain, such as industrial inspection and medical imaging. In this paper, we propose a novel epistemic UAD method, namely ReContrast, which optimizes the entire network to reduce biases towards the pre-trained image domain and orients the network in the target domain. We start with a feature reconstruction approach that detects anomalies from errors. Essentially, the elements of contrastive learning are elegantly embedded in feature reconstruction to prevent the network from training instability, pattern collapse, and identical shortcut, while simultaneously optimizing both the encoder and decoder on the target domain. To demonstrate our transfer ability on various image domains, we conduct extensive experiments across two popular industrial defect detection benchmarks and three medical image UAD tasks, which shows our superiority over current state-of-the-art methods.
Due to the limited availability of data, existing few-shot learning methods trained from scratch fail to achieve satisfactory performance. In contrast, large-scale pre-trained models such as CLIP demonstrate remarkable few-shot and zero-shot capabilities. To enhance the performance of pre-trained models for downstream tasks, fine-tuning the model on downstream data is frequently necessary. However, fine-tuning the pre-trained model leads to a decrease in its generalizability in the presence of distribution shift, while the limited number of samples in few-shot learning makes the model highly susceptible to overfitting. Consequently, existing methods for fine-tuning few-shot learning primarily focus on fine-tuning the model's classification head or introducing additional structure. In this paper, we introduce a fine-tuning approach termed Feature Discrimination Alignment (FD-Align). Our method aims to bolster the model's generalizability by preserving the consistency of spurious features across the fine-tuning process. Extensive experimental results validate the efficacy of our approach for both ID and OOD tasks. Once fine-tuned, the model can seamlessly integrate with existing methods, leading to performance improvements. Our code can be found in //github.com/skingorz/FD-Align.
The convergence of embodied agents and large language models (LLMs) has brought significant advancements to embodied instruction following. Particularly, the strong reasoning capabilities of LLMs make it possible for robots to perform long-horizon tasks without expensive annotated demonstrations. However, public benchmarks for testing the long-horizon reasoning capabilities of language-conditioned robots in various scenarios are still missing. To fill this gap, this work focuses on the tabletop manipulation task and releases a simulation benchmark, \textit{LoHoRavens}, which covers various long-horizon reasoning aspects spanning color, size, space, arithmetics and reference. Furthermore, there is a key modality bridging problem for long-horizon manipulation tasks with LLMs: how to incorporate the observation feedback during robot execution for the LLM's closed-loop planning, which is however less studied by prior work. We investigate two methods of bridging the modality gap: caption generation and learnable interface for incorporating explicit and implicit observation feedback to the LLM, respectively. These methods serve as the two baselines for our proposed benchmark. Experiments show that both methods struggle to solve some tasks, indicating long-horizon manipulation tasks are still challenging for current popular models. We expect the proposed public benchmark and baselines can help the community develop better models for long-horizon tabletop manipulation tasks.
Profile hidden Markov models (pHMMs) are widely employed in various bioinformatics applications to identify similarities between biological sequences, such as DNA or protein sequences. In pHMMs, sequences are represented as graph structures. These probabilities are subsequently used to compute the similarity score between a sequence and a pHMM graph. The Baum-Welch algorithm, a prevalent and highly accurate method, utilizes these probabilities to optimize and compute similarity scores. However, the Baum-Welch algorithm is computationally intensive, and existing solutions offer either software-only or hardware-only approaches with fixed pHMM designs. We identify an urgent need for a flexible, high-performance, and energy-efficient HW/SW co-design to address the major inefficiencies in the Baum-Welch algorithm for pHMMs. We introduce ApHMM, the first flexible acceleration framework designed to significantly reduce both computational and energy overheads associated with the Baum-Welch algorithm for pHMMs. ApHMM tackles the major inefficiencies in the Baum-Welch algorithm by 1) designing flexible hardware to accommodate various pHMM designs, 2) exploiting predictable data dependency patterns through on-chip memory with memoization techniques, 3) rapidly filtering out negligible computations using a hardware-based filter, and 4) minimizing redundant computations. ApHMM achieves substantial speedups of 15.55x - 260.03x, 1.83x - 5.34x, and 27.97x when compared to CPU, GPU, and FPGA implementations of the Baum-Welch algorithm, respectively. ApHMM outperforms state-of-the-art CPU implementations in three key bioinformatics applications: 1) error correction, 2) protein family search, and 3) multiple sequence alignment, by 1.29x - 59.94x, 1.03x - 1.75x, and 1.03x - 1.95x, respectively, while improving their energy efficiency by 64.24x - 115.46x, 1.75x, 1.96x.
Image super-resolution generation aims to generate a high-resolution image from its low-resolution image. However, more complex neural networks bring high computational costs and memory storage. It is still an active area for offering the promise of overcoming resolution limitations in many applications. In recent years, transformers have made significant progress in computer vision tasks as their robust self-attention mechanism. However, recent works on the transformer for image super-resolution also contain convolution operations. We propose a patch translator for image super-resolution (PTSR) to address this problem. The proposed PTSR is a transformer-based GAN network with no convolution operation. We introduce a novel patch translator module for regenerating the improved patches utilising multi-head attention, which is further utilised by the generator to generate the 2x and 4x super-resolution images. The experiments are performed using benchmark datasets, including DIV2K, Set5, Set14, and BSD100. The results of the proposed model is improved on an average for $4\times$ super-resolution by 21.66% in PNSR score and 11.59% in SSIM score, as compared to the best competitive models. We also analyse the proposed loss and saliency map to show the effectiveness of the proposed method.
Diffusion models (DMs) have enabled breakthroughs in image synthesis tasks but lack an intuitive interface for consistent image-to-image (I2I) translation. Various methods have been explored to address this issue, including mask-based methods, attention-based methods, and image-conditioning. However, it remains a critical challenge to enable unpaired I2I translation with pre-trained DMs while maintaining satisfying consistency. This paper introduces Cyclenet, a novel but simple method that incorporates cycle consistency into DMs to regularize image manipulation. We validate Cyclenet on unpaired I2I tasks of different granularities. Besides the scene and object level translation, we additionally contribute a multi-domain I2I translation dataset to study the physical state changes of objects. Our empirical studies show that Cyclenet is superior in translation consistency and quality, and can generate high-quality images for out-of-domain distributions with a simple change of the textual prompt. Cyclenet is a practical framework, which is robust even with very limited training data (around 2k) and requires minimal computational resources (1 GPU) to train. Project homepage: //cyclenetweb.github.io/
3D perceptual representations are well suited for robot manipulation as they easily encode occlusions and simplify spatial reasoning. Many manipulation tasks require high spatial precision in end-effector pose prediction, which typically demands high-resolution 3D feature grids that are computationally expensive to process. As a result, most manipulation policies operate directly in 2D, foregoing 3D inductive biases. In this paper, we introduce Act3D, a manipulation policy transformer that represents the robot's workspace using a 3D feature field with adaptive resolutions dependent on the task at hand. The model lifts 2D pre-trained features to 3D using sensed depth, and attends to them to compute features for sampled 3D points. It samples 3D point grids in a coarse to fine manner, featurizes them using relative-position attention, and selects where to focus the next round of point sampling. In this way, it efficiently computes 3D action maps of high spatial resolution. Act3D sets a new state-of-the-art in RL-Bench, an established manipulation benchmark, where it achieves 10% absolute improvement over the previous SOTA 2D multi-view policy on 74 RLBench tasks and 22% absolute improvement with 3x less compute over the previous SOTA 3D policy. We quantify the importance of relative spatial attention, large-scale vision-language pre-trained 2D backbones, and weight tying across coarse-to-fine attentions in ablative experiments. Code and videos are available on our project website: //act3d.github.io/.
Cloud platforms are increasing their emphasis on sustainability and reducing their operational carbon footprint. A common approach for reducing carbon emissions is to exploit the temporal flexibility inherent to many cloud workloads by executing them in periods with the greenest energy and suspending them at other times. Since such suspend-resume approaches can incur long delays in job completion times, we present a new approach that exploits the elasticity of batch workloads in the cloud to optimize their carbon emissions. Our approach is based on the notion of "carbon scaling," similar to cloud autoscaling, where a job dynamically varies its server allocation based on fluctuations in the carbon cost of the grid's energy. We develop a greedy algorithm for minimizing a job's carbon emissions via carbon scaling that is based on the well-known problem of marginal resource allocation. We implement a CarbonScaler prototype in Kubernetes using its autoscaling capabilities and an analytic tool to guide the carbon-efficient deployment of batch applications in the cloud. We then evaluate CarbonScaler using real-world machine learning training and MPI jobs on a commercial cloud platform and show that it can yield i) 51% carbon savings over carbon-agnostic execution; ii) 37% over a state-of-the-art suspend-resume policy; and iii) 8% over the best static scaling policy.
We propose to pre-train a unified language model for both autoencoding and partially autoregressive language modeling tasks using a novel training procedure, referred to as a pseudo-masked language model (PMLM). Given an input text with masked tokens, we rely on conventional masks to learn inter-relations between corrupted tokens and context via autoencoding, and pseudo masks to learn intra-relations between masked spans via partially autoregressive modeling. With well-designed position embeddings and self-attention masks, the context encodings are reused to avoid redundant computation. Moreover, conventional masks used for autoencoding provide global masking information, so that all the position embeddings are accessible in partially autoregressive language modeling. In addition, the two tasks pre-train a unified language model as a bidirectional encoder and a sequence-to-sequence decoder, respectively. Our experiments show that the unified language models pre-trained using PMLM achieve new state-of-the-art results on a wide range of natural language understanding and generation tasks across several widely used benchmarks.
Retrieving object instances among cluttered scenes efficiently requires compact yet comprehensive regional image representations. Intuitively, object semantics can help build the index that focuses on the most relevant regions. However, due to the lack of bounding-box datasets for objects of interest among retrieval benchmarks, most recent work on regional representations has focused on either uniform or class-agnostic region selection. In this paper, we first fill the void by providing a new dataset of landmark bounding boxes, based on the Google Landmarks dataset, that includes $94k$ images with manually curated boxes from $15k$ unique landmarks. Then, we demonstrate how a trained landmark detector, using our new dataset, can be leveraged to index image regions and improve retrieval accuracy while being much more efficient than existing regional methods. In addition, we further introduce a novel regional aggregated selective match kernel (R-ASMK) to effectively combine information from detected regions into an improved holistic image representation. R-ASMK boosts image retrieval accuracy substantially at no additional memory cost, while even outperforming systems that index image regions independently. Our complete image retrieval system improves upon the previous state-of-the-art by significant margins on the Revisited Oxford and Paris datasets. Code and data will be released.
小貼士
登錄享
相關主題
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191