Real-time path planning in outdoor environments still challenges modern robotic systems due to differences in terrain traversability, diverse obstacles, and the necessity for fast decision-making. Established approaches have primarily focused on geometric navigation solutions, which work well for structured geometric obstacles but have limitations regarding the semantic interpretation of different terrain types and their affordances. Moreover, these methods fail to identify traversable geometric occurrences, such as stairs. To overcome these issues, we introduce ViPlanner, a learned local path planning approach that generates local plans based on geometric and semantic information. The system is trained using the Imperative Learning paradigm, for which the network weights are optimized end-to-end based on the planning task objective. This optimization uses a differentiable formulation of a semantic costmap, which enables the planner to distinguish between the traversability of different terrains and accurately identify obstacles. The semantic information is represented in 30 classes using an RGB colorspace that can effectively encode the multiple levels of traversability. We show that the planner can adapt to diverse real-world environments without requiring any real-world training. In fact, the planner is trained purely in simulation, enabling a highly scalable training data generation. Experimental results demonstrate resistance to noise, zero-shot sim-to-real transfer, and a decrease of 38.02% in terms of traversability cost compared to purely geometric-based approaches. Code and models are made publicly available: //github.com/leggedrobotics/viplanner.
相關內容
Semantic segmentation is an important computer vision task, particularly for scene understanding and navigation of autonomous vehicles and UAVs. Several variations of deep neural network architectures have been designed to tackle this task. However, due to their huge computational costs and their high memory consumption, these models are not meant to be deployed on resource-constrained systems. To address this limitation, we introduce an end-to-end biologically inspired semantic segmentation approach by combining Spiking Neural Networks (SNNs, a low-power alternative to classical neural networks) with event cameras whose output data can directly feed these neural network inputs. We have designed EvSegSNN, a biologically plausible encoder-decoder U-shaped architecture relying on Parametric Leaky Integrate and Fire neurons in an objective to trade-off resource usage against performance. The experiments conducted on DDD17 demonstrate that EvSegSNN outperforms the closest state-of-the-art model in terms of MIoU while reducing the number of parameters by a factor of $1.6$ and sparing a batch normalization stage.
The rise of online multi-modal sharing platforms like TikTok and YouTube has enabled personalized recommender systems to incorporate multiple modalities (such as visual, textual, and acoustic) into user representations. However, addressing the challenge of data sparsity in these systems remains a key issue. To address this limitation, recent research has introduced self-supervised learning techniques to enhance recommender systems. However, these methods often rely on simplistic random augmentation or intuitive cross-view information, which can introduce irrelevant noise and fail to accurately align the multi-modal context with user-item interaction modeling. To fill this research gap, we propose a novel multi-modal graph diffusion model for recommendation called DiffMM. Our framework integrates a modality-aware graph diffusion model with a cross-modal contrastive learning paradigm to improve modality-aware user representation learning. This integration facilitates better alignment between multi-modal feature information and collaborative relation modeling. Our approach leverages diffusion models' generative capabilities to automatically generate a user-item graph that is aware of different modalities, facilitating the incorporation of useful multi-modal knowledge in modeling user-item interactions. We conduct extensive experiments on three public datasets, consistently demonstrating the superiority of our DiffMM over various competitive baselines. For open-sourced model implementation details, you can access the source codes of our proposed framework at: //github.com/HKUDS/DiffMM .
Multiparty computation approaches to secure neural network inference commonly rely on garbled circuits for securely executing nonlinear activation functions. However, garbled circuits require excessive communication between server and client, impose significant storage overheads, and incur large runtime penalties. To reduce these costs, we propose an alternative to garbled circuits: Tabula, an algorithm based on secure lookup tables. Our approach precomputes lookup tables during an offline phase that contains the result of all possible nonlinear function calls. Because these tables incur exponential storage costs in the number of operands and the precision of the input values, we use quantization to reduce these storage costs to make this approach practical. This enables an online phase where securely computing the result of a nonlinear function requires just a single round of communication, with communication cost equal to twice the number of bits of the input to the nonlinear function. In practice our approach costs 2 bytes of communication per nonlinear function call in the online phase. Compared to garbled circuits with 8-bit quantized inputs, when computing individual nonlinear functions during the online phase, experiments show Tabula with 8-bit activations uses between $280$-$560 \times$ less communication, is over $100\times$ faster, and uses a comparable (within a factor of 2) amount of storage; compared against other state-of-the-art protocols Tabula achieves greater than $40\times$ communication reduction. This leads to significant performance gains over garbled circuits with quantized inputs during the online phase of secure inference of neural networks: Tabula reduces end-to-end inference communication by up to $9 \times$ and achieves an end-to-end inference speedup of up to $50 \times$, while imposing comparable storage and offline preprocessing costs.
Developing interactive systems that leverage natural language instructions to solve complex robotic control tasks has been a long-desired goal in the robotics community. Large Language Models (LLMs) have demonstrated exceptional abilities in handling complex tasks, including logical reasoning, in-context learning, and code generation. However, predicting low-level robotic actions using LLMs poses significant challenges. Additionally, the complexity of such tasks usually demands the acquisition of policies to execute diverse subtasks and combine them to attain the ultimate objective. Hierarchical Reinforcement Learning (HRL) is an elegant approach for solving such tasks, which provides the intuitive benefits of temporal abstraction and improved exploration. However, HRL faces the recurring issue of non-stationarity due to unstable lower primitive behaviour. In this work, we propose LGR2, a novel HRL framework that leverages language instructions to generate a stationary reward function for the higher-level policy. Since the language-guided reward is unaffected by the lower primitive behaviour, LGR2 mitigates non-stationarity and is thus an elegant method for leveraging language instructions to solve robotic control tasks. To analyze the efficacy of our approach, we perform empirical analysis and demonstrate that LGR2 effectively alleviates non-stationarity in HRL. Our approach attains success rates exceeding 70$\%$ in challenging, sparse-reward robotic navigation and manipulation environments where the baselines fail to achieve any significant progress. Additionally, we conduct real-world robotic manipulation experiments and demonstrate that CRISP shows impressive generalization in real-world scenarios.
Due to the continuously improving capabilities of mobile edges, recommender systems start to deploy models on edges to alleviate network congestion caused by frequent mobile requests. Several studies have leveraged the proximity of edge-side to real-time data, fine-tuning them to create edge-specific models. Despite their significant progress, these methods require substantial on-edge computational resources and frequent network transfers to keep the model up to date. The former may disrupt other processes on the edge to acquire computational resources, while the latter consumes network bandwidth, leading to a decrease in user satisfaction. In response to these challenges, we propose a customizeD slImming framework for incompatiblE neTworks(DIET). DIET deploys the same generic backbone (potentially incompatible for a specific edge) to all devices. To minimize frequent bandwidth usage and storage consumption in personalization, DIET tailors specific subnets for each edge based on its past interactions, learning to generate slimming subnets(diets) within incompatible networks for efficient transfer. It also takes the inter-layer relationships into account, empirically reducing inference time while obtaining more suitable diets. We further explore the repeated modules within networks and propose a more storage-efficient framework, DIETING, which utilizes a single layer of parameters to represent the entire network, achieving comparably excellent performance. The experiments across four state-of-the-art datasets and two widely used models demonstrate the superior accuracy in recommendation and efficiency in transmission and storage of our framework.
The rapid evolution of wireless technologies and the growing complexity of network infrastructures necessitate a paradigm shift in how communication networks are designed, configured, and managed. Recent advancements in Large Language Models (LLMs) have sparked interest in their potential to revolutionize wireless communication systems. However, existing studies on LLMs for wireless systems are limited to a direct application for telecom language understanding. To empower LLMs with knowledge and expertise in the wireless domain, this paper proposes WirelessLLM, a comprehensive framework for adapting and enhancing LLMs to address the unique challenges and requirements of wireless communication networks. We first identify three foundational principles that underpin WirelessLLM: knowledge alignment, knowledge fusion, and knowledge evolution. Then, we investigate the enabling technologies to build WirelessLLM, including prompt engineering, retrieval augmented generation, tool usage, multi-modal pre-training, and domain-specific fine-tuning. Moreover, we present three case studies to demonstrate the practical applicability and benefits of WirelessLLM for solving typical problems in wireless networks. Finally, we conclude this paper by highlighting key challenges and outlining potential avenues for future research.
We present RoboGen, a generative robotic agent that automatically learns diverse robotic skills at scale via generative simulation. RoboGen leverages the latest advancements in foundation and generative models. Instead of directly using or adapting these models to produce policies or low-level actions, we advocate for a generative scheme, which uses these models to automatically generate diversified tasks, scenes, and training supervisions, thereby scaling up robotic skill learning with minimal human supervision. Our approach equips a robotic agent with a self-guided propose-generate-learn cycle: the agent first proposes interesting tasks and skills to develop, and then generates corresponding simulation environments by populating pertinent objects and assets with proper spatial configurations. Afterwards, the agent decomposes the proposed high-level task into sub-tasks, selects the optimal learning approach (reinforcement learning, motion planning, or trajectory optimization), generates required training supervision, and then learns policies to acquire the proposed skill. Our work attempts to extract the extensive and versatile knowledge embedded in large-scale models and transfer them to the field of robotics. Our fully generative pipeline can be queried repeatedly, producing an endless stream of skill demonstrations associated with diverse tasks and environments.
Robotic collectives for military and disaster response applications require coalition formation algorithms to partition robots into appropriate task teams. Collectives' missions will often incorporate tasks that require multiple high-level robot behaviors or services, which coalition formation must accommodate. The highly dynamic and unstructured application domains also necessitate that coalition formation algorithms produce near optimal solutions (i.e., >95% utility) in near real-time (i.e., <5 minutes) with very large collectives (i.e., hundreds of robots). No previous coalition formation algorithm satisfies these requirements. An initial evaluation found that traditional auction-based algorithms' runtimes are too long, even though the centralized simulator incorporated ideal conditions unlikely to occur in real-world deployments (i.e., synchronization across robots and perfect, instantaneous communication). The hedonic game-based GRAPE algorithm can produce solutions in near real-time, but cannot be applied to multiple service collectives. This manuscript integrates GRAPE and a services model, producing GRAPE-S and Pair-GRAPE-S. These algorithms and two auction baselines were evaluated using a centralized simulator with up to 1000 robots, and via the largest distributed coalition formation simulated evaluation to date, with up to 500 robots. The evaluations demonstrate that auctions transfer poorly to distributed collectives, resulting in excessive runtimes and low utility solutions. GRAPE-S satisfies the target domains' coalition formation requirements, producing near optimal solutions in near real-time, and Pair-GRAPE-S more than satisfies the domain requirements, producing optimal solutions in near real-time. GRAPE-S and Pair-GRAPE-S are the first algorithms demonstrated to support near real-time coalition formation for very large, distributed collectives with multiple services.
Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.
A large number of real-world graphs or networks are inherently heterogeneous, involving a diversity of node types and relation types. Heterogeneous graph embedding is to embed rich structural and semantic information of a heterogeneous graph into low-dimensional node representations. Existing models usually define multiple metapaths in a heterogeneous graph to capture the composite relations and guide neighbor selection. However, these models either omit node content features, discard intermediate nodes along the metapath, or only consider one metapath. To address these three limitations, we propose a new model named Metapath Aggregated Graph Neural Network (MAGNN) to boost the final performance. Specifically, MAGNN employs three major components, i.e., the node content transformation to encapsulate input node attributes, the intra-metapath aggregation to incorporate intermediate semantic nodes, and the inter-metapath aggregation to combine messages from multiple metapaths. Extensive experiments on three real-world heterogeneous graph datasets for node classification, node clustering, and link prediction show that MAGNN achieves more accurate prediction results than state-of-the-art baselines.
小貼士
登錄享
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191