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This paper addresses multi-robot informative path planning (IPP) for environmental monitoring. The problem involves determining informative regions in the environment that should be visited by robots in order to gather the most information about the environment. We propose an efficient sparse Gaussian process-based approach that uses gradient descent to optimize paths in continuous environments. Our approach efficiently scales to both spatially and spatio-temporally correlated environments. Moreover, our approach can simultaneously optimize the informative paths while accounting for routing constraints, such as a distance budget and limits on the robot's velocity and acceleration. Our approach can be used for IPP with both discrete and continuous sensing robots, with point and non-point field-of-view sensing shapes, and for multi-robot IPP. The proposed approach is demonstrated to be fast and accurate on real-world data.

High-resolution multi-modality information acquired by vision-based tactile sensors can support more dexterous manipulations for robot fingers. Optical flow is low-level information directly obtained by vision-based tactile sensors, which can be transformed into other modalities like force, geometry and depth. Current vision-tactile sensors employ optical flow methods from OpenCV to estimate the deformation of markers in gels. However, these methods need to be more precise for accurately measuring the displacement of markers during large elastic deformation of the gel, as this can significantly impact the accuracy of downstream tasks. This study proposes a self-supervised optical flow method based on deep learning to achieve high accuracy in displacement measurement for vision-based tactile sensors. The proposed method employs a coarse-to-fine strategy to handle large deformations by constructing a multi-scale feature pyramid from the input image. To better deal with the elastic deformation caused by the gel, the Helmholtz velocity decomposition constraint combined with the elastic deformation constraint are adopted to address the distortion rate and area change rate, respectively. A local flow fusion module is designed to smooth the optical flow, taking into account the prior knowledge of the blurred effect of gel deformation. We trained the proposed self-supervised network using an open-source dataset and compared it with traditional and deep learning-based optical flow methods. The results show that the proposed method achieved the highest displacement measurement accuracy, thereby demonstrating its potential for enabling more precise measurement of downstream tasks using vision-based tactile sensors.

This paper studies the challenging two-view 3D reconstruction in a rigorous sparse-view configuration, which is suffering from insufficient correspondences in the input image pairs for camera pose estimation. We present a novel Neural One-PlanE RANSAC framework (termed NOPE-SAC in short) that exerts excellent capability to learn one-plane pose hypotheses from 3D plane correspondences. Building on the top of a siamese plane detection network, our NOPE-SAC first generates putative plane correspondences with a coarse initial pose. It then feeds the learned 3D plane parameters of correspondences into shared MLPs to estimate the one-plane camera pose hypotheses, which are subsequently reweighed in a RANSAC manner to obtain the final camera pose. Because the neural one-plane pose minimizes the number of plane correspondences for adaptive pose hypotheses generation, it enables stable pose voting and reliable pose refinement in a few plane correspondences for the sparse-view inputs. In the experiments, we demonstrate that our NOPE-SAC significantly improves the camera pose estimation for the two-view inputs with severe viewpoint changes, setting several new state-of-the-art performances on two challenging benchmarks, i.e., MatterPort3D and ScanNet, for sparse-view 3D reconstruction. The source code is released at //github.com/IceTTTb/NopeSAC for reproducible research.

In this work, we focus on a robotic unloading problem from visual observations, where robots are required to autonomously unload stacks of parcels using RGB-D images as their primary input source. While supervised and imitation learning have accomplished good results in these types of tasks, they heavily rely on labeled data, which are challenging to obtain in realistic scenarios. Our study aims to develop a sample efficient controller framework that can learn unloading tasks without the need for labeled data during the learning process. To tackle this challenge, we propose a hierarchical controller structure that combines a high-level decision-making module with classical motion control. The high-level module is trained using Deep Reinforcement Learning (DRL), wherein we incorporate a safety bias mechanism and design a reward function tailored to this task. Our experiments demonstrate that both these elements play a crucial role in achieving improved learning performance. Furthermore, to ensure reproducibility and establish a benchmark for future research, we provide free access to our code and simulation.

We propose, analyze, and experimentally verify a new proactive approach for robot social navigation driven by the robot's "opinion" for which way and by how much to pass human movers crossing its path. The robot forms an opinion over time according to nonlinear dynamics that depend on the robot's observations of human movers and its level of attention to these social cues. For these dynamics, it is guaranteed that when the robot's attention is greater than a critical value, deadlock in decision making is broken, and the robot rapidly forms a strong opinion, passing each human mover even if the robot has no bias nor evidence for which way to pass. We enable proactive rapid and reliable social navigation by having the robot grow its attention across the critical value when a human mover approaches. With human-robot experiments we demonstrate the flexibility of our approach and validate our analytical results on deadlock-breaking. We also show that a single design parameter can tune the trade-off between efficiency and reliability in human-robot passing. The new approach has the additional advantage that it does not rely on a predictive model of human behavior.

The Function-as-a-service (FaaS) computing model has recently seen significant growth especially for highly scalable, event-driven applications. The easy-to-deploy and cost-efficient fine-grained billing of FaaS is highly attractive to big data applications. However, the stateless nature of serverless platforms poses major challenges when supporting stateful I/O intensive workloads such as a lack of native support for stateful execution, state sharing, and inter-function communication. In this paper, we explore the feasibility of performing stateful big data analytics on serverless platforms and improving I/O throughput of functions by using modern storage technologies such as Intel Optane DC Persistent Memory (PMEM). To this end, we propose Marvel, an end-to-end architecture built on top of the popular serverless platform, Apache OpenWhisk and Apache Hadoop. Marvel makes two main contributions: (1) enable stateful function execution on OpenWhisk by maintaining state information in an in-memory caching layer; and (2) provide access to PMEM backed HDFS storage for faster I/O performance. Our evaluation shows that Marvel reduces the overall execution time of big data applications by up to 86.6% compared to current MapReduce implementations on AWS Lambda.

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.

This paper explores meta-learning in sequential recommendation to alleviate the item cold-start problem. Sequential recommendation aims to capture user's dynamic preferences based on historical behavior sequences and acts as a key component of most online recommendation scenarios. However, most previous methods have trouble recommending cold-start items, which are prevalent in those scenarios. As there is generally no side information in the setting of sequential recommendation task, previous cold-start methods could not be applied when only user-item interactions are available. Thus, we propose a Meta-learning-based Cold-Start Sequential Recommendation Framework, namely Mecos, to mitigate the item cold-start problem in sequential recommendation. This task is non-trivial as it targets at an important problem in a novel and challenging context. Mecos effectively extracts user preference from limited interactions and learns to match the target cold-start item with the potential user. Besides, our framework can be painlessly integrated with neural network-based models. Extensive experiments conducted on three real-world datasets verify the superiority of Mecos, with the average improvement up to 99%, 91%, and 70% in HR@10 over state-of-the-art baseline methods.

Most object recognition approaches predominantly focus on learning discriminative visual patterns while overlooking the holistic object structure. Though important, structure modeling usually requires significant manual annotations and therefore is labor-intensive. In this paper, we propose to "look into object" (explicitly yet intrinsically model the object structure) through incorporating self-supervisions into the traditional framework. We show the recognition backbone can be substantially enhanced for more robust representation learning, without any cost of extra annotation and inference speed. Specifically, we first propose an object-extent learning module for localizing the object according to the visual patterns shared among the instances in the same category. We then design a spatial context learning module for modeling the internal structures of the object, through predicting the relative positions within the extent. These two modules can be easily plugged into any backbone networks during training and detached at inference time. Extensive experiments show that our look-into-object approach (LIO) achieves large performance gain on a number of benchmarks, including generic object recognition (ImageNet) and fine-grained object recognition tasks (CUB, Cars, Aircraft). We also show that this learning paradigm is highly generalizable to other tasks such as object detection and segmentation (MS COCO). Project page: //github.com/JDAI-CV/LIO.

We study the problem of embedding-based entity alignment between knowledge graphs (KGs). Previous works mainly focus on the relational structure of entities. Some further incorporate another type of features, such as attributes, for refinement. However, a vast of entity features are still unexplored or not equally treated together, which impairs the accuracy and robustness of embedding-based entity alignment. In this paper, we propose a novel framework that unifies multiple views of entities to learn embeddings for entity alignment. Specifically, we embed entities based on the views of entity names, relations and attributes, with several combination strategies. Furthermore, we design some cross-KG inference methods to enhance the alignment between two KGs. Our experiments on real-world datasets show that the proposed framework significantly outperforms the state-of-the-art embedding-based entity alignment methods. The selected views, cross-KG inference and combination strategies all contribute to the performance improvement.