SELU: Self-Learning Embodied MLLMs in Unknown Environments

Recently, multimodal large language models (MLLMs) have demonstrated strong visual understanding and decision-making capabilities, enabling the exploration of autonomously improving MLLMs in unknown environments. However, external feedback like human or environmental feedback is not always available. To address this challenge, existing methods primarily focus on enhancing the decision-making capabilities of MLLMs through voting and scoring mechanisms, while little effort has been paid to improving the environmental comprehension of MLLMs in unknown environments. To fully unleash the self-learning potential of MLLMs, we propose a novel actor-critic self-learning paradigm, dubbed SELU, inspired by the actor-critic paradigm in reinforcement learning. The critic employs self-asking and hindsight relabeling to extract knowledge from interaction trajectories collected by the actor, thereby augmenting its environmental comprehension. Simultaneously, the actor is improved by the self-feedback provided by the critic, enhancing its decision-making. We evaluate our method in the AI2-THOR and VirtualHome environments, and SELU achieves critic improvements of approximately 28% and 30%, and actor improvements of about 20% and 24% via self-learning.

Universality of Real Minimal Complexity Reservoir

Reservoir Computing (RC) models, a subclass of recurrent neural networks, are distinguished by their fixed, non-trainable input layer and dynamically coupled reservoir, with only the static readout layer being trained. This design circumvents the issues associated with backpropagating error signals through time, thereby enhancing both stability and training efficiency. RC models have been successfully applied across a broad range of application domains. Crucially, they have been demonstrated to be universal approximators of time-invariant dynamic filters with fading memory, under various settings of approximation norms and input driving sources. Simple Cycle Reservoirs (SCR) represent a specialized class of RC models with a highly constrained reservoir architecture, characterized by uniform ring connectivity and binary input-to-reservoir weights with an aperiodic sign pattern. For linear reservoirs, given the reservoir size, the reservoir construction has only one degree of freedom -- the reservoir cycle weight. Such architectures are particularly amenable to hardware implementations without significant performance degradation in many practical tasks. In this study we endow these observations with solid theoretical foundations by proving that SCRs operating in real domain are universal approximators of time-invariant dynamic filters with fading memory. Our results supplement recent research showing that SCRs in the complex domain can approximate, to arbitrary precision, any unrestricted linear reservoir with a non-linear readout. We furthermore introduce a novel method to drastically reduce the number of SCR units, making such highly constrained architectures natural candidates for low-complexity hardware implementations. Our findings are supported by empirical studies on real-world time series datasets.

Egocentric Vision Language Planning

We explore leveraging large multi-modal models (LMMs) and text2image models to build a more general embodied agent. LMMs excel in planning long-horizon tasks over symbolic abstractions but struggle with grounding in the physical world, often failing to accurately identify object positions in images. A bridge is needed to connect LMMs to the physical world. The paper proposes a novel approach, egocentric vision language planning (EgoPlan), to handle long-horizon tasks from an egocentric perspective in varying household scenarios. This model leverages a diffusion model to simulate the fundamental dynamics between states and actions, integrating techniques like style transfer and optical flow to enhance generalization across different environmental dynamics. The LMM serves as a planner, breaking down instructions into sub-goals and selecting actions based on their alignment with these sub-goals, thus enabling more generalized and effective decision-making. Experiments show that EgoPlan improves long-horizon task success rates from the egocentric view compared to baselines across household scenarios.

TransFeat-TPP: An Interpretable Deep Covariate Temporal Point Processes

The classical temporal point process (TPP) constructs an intensity function by taking the occurrence times into account. Nevertheless, occurrence time may not be the only relevant factor, other contextual data, termed covariates, may also impact the event evolution. Incorporating such covariates into the model is beneficial, while distinguishing their relevance to the event dynamics is of great practical significance. In this work, we propose a Transformer-based covariate temporal point process (TransFeat-TPP) model to improve the interpretability of deep covariate-TPPs while maintaining powerful expressiveness. TransFeat-TPP can effectively model complex relationships between events and covariates, and provide enhanced interpretability by discerning the importance of various covariates. Experimental results on synthetic and real datasets demonstrate improved prediction accuracy and consistently interpretable feature importance when compared to existing deep covariate-TPPs.

FedEx: Expediting Federated Learning over Heterogeneous Mobile Devices by Overlapping and Participant Selection

Training latency is critical for the success of numerous intrigued applications ignited by federated learning (FL) over heterogeneous mobile devices. By revolutionarily overlapping local gradient transmission with continuous local computing, FL can remarkably reduce its training latency over homogeneous clients, yet encounter severe model staleness, model drifts, memory cost and straggler issues in heterogeneous environments. To unleash the full potential of overlapping, we propose, FedEx, a novel \underline{fed}erated learning approach to \underline{ex}pedite FL training over mobile devices under data, computing and wireless heterogeneity. FedEx redefines the overlapping procedure with staleness ceilings to constrain memory consumption and make overlapping compatible with participation selection (PS) designs. Then, FedEx characterizes the PS utility function by considering the latency reduced by overlapping, and provides a holistic PS solution to address the straggler issue. FedEx also introduces a simple but effective metric to trigger overlapping, in order to avoid model drifts. Experimental results show that compared with its peer designs, FedEx demonstrates substantial reductions in FL training latency over heterogeneous mobile devices with limited memory cost.

Towards General Computer Control: A Multimodal Agent for Red Dead Redemption II as a Case Study

Despite the success in specific tasks and scenarios, existing foundation agents, empowered by large models (LMs) and advanced tools, still cannot generalize to different scenarios, mainly due to dramatic differences in the observations and actions across scenarios. In this work, we propose the General Computer Control (GCC) setting: building foundation agents that can master any computer task by taking only screen images (and possibly audio) of the computer as input, and producing keyboard and mouse operations as output, similar to human-computer interaction. The main challenges of achieving GCC are: 1) the multimodal observations for decision-making, 2) the requirements of accurate control of keyboard and mouse, 3) the need for long-term memory and reasoning, and 4) the abilities of efficient exploration and self-improvement. To target GCC, we introduce Cradle, an agent framework with six main modules, including: 1) information gathering to extract multi-modality information, 2) self-reflection to rethink past experiences, 3) task inference to choose the best next task, 4) skill curation for generating and updating relevant skills for given tasks, 5) action planning to generate specific operations for keyboard and mouse control, and 6) memory for storage and retrieval of past experiences and known skills. To demonstrate the capabilities of generalization and self-improvement of Cradle, we deploy it in the complex AAA game Red Dead Redemption II, serving as a preliminary attempt towards GCC with a challenging target. To our best knowledge, our work is the first to enable LMM-based agents to follow the main storyline and finish real missions in complex AAA games, with minimal reliance on prior knowledge or resources. The project website is at https://baai-agents.github.io/Cradle/.

Outlier-Aware Training for Low-Bit Quantization of Structural Re-Parameterized Networks

Lightweight design of Convolutional Neural Networks (CNNs) requires co-design efforts in the model architectures and compression techniques. As a novel design paradigm that separates training and inference, a structural re-parameterized (SR) network such as the representative RepVGG revitalizes the simple VGG-like network with a high accuracy comparable to advanced and often more complicated networks. However, the merging process in SR networks introduces outliers into weights, making their distribution distinct from conventional networks and thus heightening difficulties in quantization. To address this, we propose an operator-level improvement for training called Outlier Aware Batch Normalization (OABN). Additionally, to meet the demands of limited bitwidths while upkeeping the inference accuracy, we develop a clustering-based non-uniform quantization framework for Quantization-Aware Training (QAT) named ClusterQAT. Integrating OABN with ClusterQAT, the quantized performance of RepVGG is largely enhanced, particularly when the bitwidth falls below 8.

Mitigating Label Bias in Machine Learning: Fairness through Confident Learning

Discrimination can occur when the underlying unbiased labels are overwritten by an agent with potential bias, resulting in biased datasets that unfairly harm specific groups and cause classifiers to inherit these biases. In this paper, we demonstrate that despite only having access to the biased labels, it is possible to eliminate bias by filtering the fairest instances within the framework of confident learning. In the context of confident learning, low self-confidence usually indicates potential label errors; however, this is not always the case. Instances, particularly those from underrepresented groups, might exhibit low confidence scores for reasons other than labeling errors. To address this limitation, our approach employs truncation of the confidence score and extends the confidence interval of the probabilistic threshold. Additionally, we incorporate with co-teaching paradigm for providing a more robust and reliable selection of fair instances and effectively mitigating the adverse effects of biased labels. Through extensive experimentation and evaluation of various datasets, we demonstrate the efficacy of our approach in promoting fairness and reducing the impact of label bias in machine learning models.

EventAid: Benchmarking Event-aided Image/Video Enhancement Algorithms with Real-captured Hybrid Dataset

Event cameras are emerging imaging technology that offers advantages over conventional frame-based imaging sensors in dynamic range and sensing speed. Complementing the rich texture and color perception of traditional image frames, the hybrid camera system of event and frame-based cameras enables high-performance imaging. With the assistance of event cameras, high-quality image/video enhancement methods make it possible to break the limits of traditional frame-based cameras, especially exposure time, resolution, dynamic range, and frame rate limits. This paper focuses on five event-aided image and video enhancement tasks (i.e., event-based video reconstruction, event-aided high frame rate video reconstruction, image deblurring, image super-resolution, and high dynamic range image reconstruction), provides an analysis of the effects of different event properties, a real-captured and ground truth labeled benchmark dataset, a unified benchmarking of state-of-the-art methods, and an evaluation for two mainstream event simulators. In detail, this paper collects a real-captured evaluation dataset EventAid for five event-aided image/video enhancement tasks, by using "Event-RGB" multi-camera hybrid system, taking into account scene diversity and spatiotemporal synchronization. We further perform quantitative and visual comparisons for state-of-the-art algorithms, provide a controlled experiment to analyze the performance limit of event-aided image deblurring methods, and discuss open problems to inspire future research.

Hundred-Kilobyte Lookup Tables for Efficient Single-Image Super-Resolution

Conventional super-resolution (SR) schemes make heavy use of convolutional neural networks (CNNs), which involve intensive multiply-accumulate (MAC) operations, and require specialized hardware such as graphics processing units. This contradicts the regime of edge AI that often runs on devices strained by power, computing, and storage resources. Such a challenge has motivated a series of lookup table (LUT)-based SR schemes that employ simple LUT readout and largely elude CNN computation. Nonetheless, the multi-megabyte LUTs in existing methods still prohibit on-chip storage and necessitate off-chip memory transport. This work tackles this storage hurdle and innovates hundred-kilobyte LUT (HKLUT) models amenable to on-chip cache. Utilizing an asymmetric two-branch multistage network coupled with a suite of specialized kernel patterns, HKLUT demonstrates an uncompromising performance and superior hardware efficiency over existing LUT schemes.