The use of multi-camera views simultaneously has been shown to improve the generalization capabilities and performance of visual policies. However, the hardware cost and design constraints in real-world scenarios can potentially make it challenging to use multiple cameras. In this study, we present a novel approach to enhance the generalization performance of vision-based Reinforcement Learning (RL) algorithms for robotic manipulation tasks. Our proposed method involves utilizing a technique known as knowledge distillation, in which a pre-trained ``teacher'' policy trained with multiple camera viewpoints guides a ``student'' policy in learning from a single camera viewpoint. To enhance the student policy's robustness against camera location perturbations, it is trained using data augmentation and extreme viewpoint changes. As a result, the student policy learns robust visual features that allow it to locate the object of interest accurately and consistently, regardless of the camera viewpoint. The efficacy and efficiency of the proposed method were evaluated both in simulation and real-world environments. The results demonstrate that the single-view visual student policy can successfully learn to grasp and lift a challenging object, which was not possible with a single-view policy alone. Furthermore, the student policy demonstrates zero-shot transfer capability, where it can successfully grasp and lift objects in real-world scenarios for unseen visual configurations.
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The majority of the research on the quantization of Deep Neural Networks (DNNs) is focused on reducing the precision of tensors visible by high-level frameworks (e.g., weights, activations, and gradients). However, current hardware still relies on high-accuracy core operations. Most significant is the operation of accumulating products. This high-precision accumulation operation is gradually becoming the main computational bottleneck. This is because, so far, the usage of low-precision accumulators led to a significant degradation in performance. In this work, we present a simple method to train and fine-tune high-end DNNs, to allow, for the first time, utilization of cheaper, $12$-bits accumulators, with no significant degradation in accuracy. Lastly, we show that as we decrease the accumulation precision further, using fine-grained gradient approximations can improve the DNN accuracy.
Appearance-based gaze estimation, which uses only a regular camera to estimate human gaze, is important in various application fields. While the technique faces data bias issues, data collection protocol is often demanding, and collecting data from a wide range of participants is difficult. It is an important challenge to design opportunities that allow a diverse range of people to participate while ensuring the quality of the training data. To tackle this challenge, we introduce a novel gamified approach for collecting training data. In this game, two players communicate words via eye gaze through a transparent letter board. Images captured during gameplay serve as valuable training data for gaze estimation models. The game is designed as a physical installation that involves communication between players, and it is expected to attract the interest of diverse participants. We assess the game's significance on data quality and user experience through a comparative user study.
Many stochastic continuous-state dynamical systems can be modeled as probabilistic programs with nonlinear non-polynomial updates in non-nested loops. We present two methods, one approximate and one exact, to automatically compute, without sampling, moment-based invariants for such probabilistic programs as closed-form solutions parameterized by the loop iteration. The exact method applies to probabilistic programs with trigonometric and exponential updates and is embedded in the Polar tool. The approximate method for moment computation applies to any nonlinear random function as it exploits the theory of polynomial chaos expansion to approximate non-polynomial updates as the sum of orthogonal polynomials. This translates the dynamical system to a non-nested loop with polynomial updates, and thus renders it conformable with the Polar tool that computes the moments of any order of the state variables. We evaluate our methods on an extensive number of examples ranging from modeling monetary policy to several physical motion systems in uncertain environments. The experimental results demonstrate the advantages of our approach with respect to the current state-of-the-art.
Recently, semidefinite programming (SDP) techniques have shown great promise in providing accurate Lipschitz bounds for neural networks. Specifically, the LipSDP approach (Fazlyab et al., 2019) has received much attention and provides the least conservative Lipschitz upper bounds that can be computed with polynomial time guarantees. However, one main restriction of LipSDP is that its formulation requires the activation functions to be slope-restricted on $[0,1]$, preventing its further use for more general activation functions such as GroupSort, MaxMin, and Householder. One can rewrite MaxMin activations for example as residual ReLU networks. However, a direct application of LipSDP to the resultant residual ReLU networks is conservative and even fails in recovering the well-known fact that the MaxMin activation is 1-Lipschitz. Our paper bridges this gap and extends LipSDP beyond slope-restricted activation functions. To this end, we provide novel quadratic constraints for GroupSort, MaxMin, and Householder activations via leveraging their underlying properties such as sum preservation. Our proposed analysis is general and provides a unified approach for estimating $\ell_2$ and $\ell_\infty$ Lipschitz bounds for a rich class of neural network architectures, including non-residual and residual neural networks and implicit models, with GroupSort, MaxMin, and Householder activations. Finally, we illustrate the utility of our approach with a variety of experiments and show that our proposed SDPs generate less conservative Lipschitz bounds in comparison to existing approaches.
Narrative visualization effectively transforms data into engaging stories, making complex information accessible to a broad audience. Large models, essential for narrative visualization, inherently facilitate this process through their superior ability to handle natural language queries and answers, generate cohesive narratives, and enhance visual communication. Inspired by previous work in narrative visualization and recent advances in large models, we synthesized potential tasks and opportunities for large models at various stages of narrative visualization. In our study, we surveyed 79 papers to explore the role of large models in automating narrative visualization creation. We propose a comprehensive pipeline that leverages large models for crafting narrative visualization, categorizing the reviewed literature into four essential phases: Data, Narration, Visualization, and Presentation. Additionally, we identify ten specific tasks where large models are applied across these stages. This study maps out the landscape of challenges and opportunities in the LM4NV process, providing insightful directions for future research and valuable guidance for scholars in the field.
A common limitation of autonomous tissue manipulation in robotic minimally invasive surgery (MIS) is the absence of force sensing and control at the tool level. Recently, our team has developed haptics-enabled forceps that can simultaneously measure the grasping and pulling forces during tissue manipulation. Based on this design, here we further present a method to automate tissue traction with controlled grasping and pulling forces. Specifically, the grasping stage relies on a controlled grasping force, while the pulling stage is under the guidance of a controlled pulling force. Notably, during the pulling process, the simultaneous control of both grasping and pulling forces is also enabled for more precise tissue traction, achieved through force decoupling. The force controller is built upon a static model of tissue manipulation, considering the interaction between the haptics-enabled forceps and soft tissue. The efficacy of this force control approach is validated through a series of experiments comparing targeted, estimated, and actual reference forces. To verify the feasibility of the proposed method in surgical applications, various tissue resections are conducted on ex vivo tissues employing a dual-arm robotic setup. Finally, we discuss the benefits of multi-force control in tissue traction, evidenced through comparative analyses of various ex vivo tissue resections. The results affirm the feasibility of implementing automatic tissue traction using micro-sized forceps with multi-force control, suggesting its potential to promote autonomous MIS. A video demonstrating the experiments can be found at //youtu.be/8fe8o8IFrjE.
Conventional recommendation methods have achieved notable advancements by harnessing collaborative or sequential information from user behavior. Recently, large language models (LLMs) have gained prominence for their capabilities in understanding and reasoning over textual semantics, and have found utility in various domains, including recommendation. Conventional recommendation methods and LLMs each have their strengths and weaknesses. While conventional methods excel at mining collaborative information and modeling sequential behavior, they struggle with data sparsity and the long-tail problem. LLMs, on the other hand, are proficient at utilizing rich textual contexts but face challenges in mining collaborative or sequential information. Despite their individual successes, there is a significant gap in leveraging their combined potential to enhance recommendation performance. In this paper, we introduce a general and model-agnostic framework known as \textbf{L}arge \textbf{la}nguage model with \textbf{m}utual augmentation and \textbf{a}daptive aggregation for \textbf{Rec}ommendation (\textbf{Llama4Rec}). Llama4Rec synergistically combines conventional and LLM-based recommendation models. Llama4Rec proposes data augmentation and prompt augmentation strategies tailored to enhance the conventional model and LLM respectively. An adaptive aggregation module is adopted to combine the predictions of both kinds of models to refine the final recommendation results. Empirical studies on three real-world datasets validate the superiority of Llama4Rec, demonstrating its consistent outperformance of baseline methods and significant improvements in recommendation performance.
Sequence-independent lifting is a procedure for strengthening valid inequalities of an integer program. We generalize the sequence-independent lifting method of Gu, Nemhauser, and Savelsbergh (GNS lifting) for cover inequalities and correct an error in their proposed generalization. We obtain a new sequence-independent lifting technique -- piecewise-constant (PC) lifting -- with a number of interesting properties. We derive a broad set of sufficient conditions under which PC lifting is facet defining. To our knowledge, this is the first characterization of facet-defining sequence-independent liftings that are efficiently computable from the underlying cover. Finally, we demonstrate via experiments that PC lifting can be a useful alternative to GNS lifting. We test our new lifting techniques atop a number of novel cover cut generation routines, which prove to be effective in experiments with CPLEX.
In contrast to traditional image restoration methods, all-in-one image restoration techniques are gaining increased attention for their ability to restore images affected by diverse and unknown corruption types and levels. However, contemporary all-in-one image restoration methods omit task-wise difficulties and employ the same networks to reconstruct images afflicted by diverse degradations. This practice leads to an underestimation of the task correlations and suboptimal allocation of computational resources. To elucidate task-wise complexities, we introduce a novel concept positing that intricate image degradation can be represented in terms of elementary degradation. Building upon this foundation, we propose an innovative approach, termed the Unified-Width Adaptive Dynamic Network (U-WADN), consisting of two pivotal components: a Width Adaptive Backbone (WAB) and a Width Selector (WS). The WAB incorporates several nested sub-networks with varying widths, which facilitates the selection of the most apt computations tailored to each task, thereby striking a balance between accuracy and computational efficiency during runtime. For different inputs, the WS automatically selects the most appropriate sub-network width, taking into account both task-specific and sample-specific complexities. Extensive experiments across a variety of image restoration tasks demonstrate that the proposed U-WADN achieves better performance while simultaneously reducing up to 32.3\% of FLOPs and providing approximately 15.7\% real-time acceleration. The code has been made available at \url{//github.com/xuyimin0926/U-WADN}.
Detecting carried objects is one of the requirements for developing systems to reason about activities involving people and objects. We present an approach to detect carried objects from a single video frame with a novel method that incorporates features from multiple scales. Initially, a foreground mask in a video frame is segmented into multi-scale superpixels. Then the human-like regions in the segmented area are identified by matching a set of extracted features from superpixels against learned features in a codebook. A carried object probability map is generated using the complement of the matching probabilities of superpixels to human-like regions and background information. A group of superpixels with high carried object probability and strong edge support is then merged to obtain the shape of the carried object. We applied our method to two challenging datasets, and results show that our method is competitive with or better than the state-of-the-art.
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