Architect: Generating Vivid and Interactive 3D Scenes with Hierarchical 2D Inpainting

Creating large-scale interactive 3D environments is essential for the development of Robotics and Embodied AI research. Current methods, including manual design, procedural generation, diffusion-based scene generation, and large language model (LLM) guided scene design, are hindered by limitations such as excessive human effort, reliance on predefined rules or training datasets, and limited 3D spatial reasoning ability. Since pre-trained 2D image generative models better capture scene and object configuration than LLMs, we address these challenges by introducing Architect, a generative framework that creates complex and realistic 3D embodied environments leveraging diffusion-based 2D image inpainting. In detail, we utilize foundation visual perception models to obtain each generated object from the image and leverage pre-trained depth estimation models to lift the generated 2D image to 3D space. Our pipeline is further extended to a hierarchical and iterative inpainting process to continuously generate placement of large furniture and small objects to enrich the scene. This iterative structure brings the flexibility for our method to generate or refine scenes from various starting points, such as text, floor plans, or pre-arranged environments.

Connecting Multi-modal Contrastive Representations

Multi-modal Contrastive Representation (MCR) learning aims to encode different modalities into a semantically aligned shared space. This paradigm shows remarkable generalization ability on numerous downstream tasks across various modalities. However, the reliance on massive high-quality data pairs limits its further development on more modalities. This paper proposes a novel training-efficient method for learning MCR without paired data called Connecting Multi-modal Contrastive Representations (C-MCR). Specifically, given two existing MCRs pre-trained on (A, B) and (B, C) modality pairs, we project them to a new space and use the data from the overlapping modality B to aligning the two MCRs in the new space. Meanwhile, since the modality pairs (A, B) and (B, C) are already aligned within each MCR, the connection learned by overlapping modality can also be transferred to non-overlapping modality pair (A, C). To unleash the potential of C-MCR, we further introduce a semantic-enhanced inter- and intra-MCR connection method. We first enhance the semantic consistency and completion of embeddings across different modalities for more robust alignment. Then we utilize the inter-MCR alignment to establish the connection, and employ the intra-MCR alignment to better maintain the connection for inputs from non-overlapping modalities. We take the field of audio-visual contrastive learning as an example to demonstrate the effectiveness of C-MCR. We connect pre-trained CLIP and CLAP models via texts to derive audio-visual contrastive representations. Remarkably, without using any paired audio-visual data and further tuning, C-MCR achieves state-of-the-art performance on six datasets across three audio-visual downstream tasks.

Variance-Reduced Stochastic Learning by Networked Agents under Random Reshuffling

A new amortized variance-reduced gradient (AVRG) algorithm was developed in \cite{ying2017convergence}, which has constant storage requirement in comparison to SAGA and balanced gradient computations in comparison to SVRG. One key advantage of the AVRG strategy is its amenability to decentralized implementations. In this work, we show how AVRG can be extended to the network case where multiple learning agents are assumed to be connected by a graph topology. In this scenario, each agent observes data that is spatially distributed and all agents are only allowed to communicate with direct neighbors. Moreover, the amount of data observed by the individual agents may differ drastically. For such situations, the balanced gradient computation property of AVRG becomes a real advantage in reducing idle time caused by unbalanced local data storage requirements, which is characteristic of other reduced-variance gradient algorithms. The resulting diffusion-AVRG algorithm is shown to have linear convergence to the exact solution, and is much more memory efficient than other alternative algorithms. In addition, we propose a mini-batch strategy to balance the communication and computation efficiency for diffusion-AVRG. When a proper batch size is employed, it is observed in simulations that diffusion-AVRG is more computationally efficient than exact diffusion or EXTRA while maintaining almost the same communication efficiency.