Sim-to-Real Transfer via 3D Feature Fields for Vision-and-Language Navigation

Vision-and-language navigation (VLN) enables the agent to navigate to a remote location in 3D environments following the natural language instruction. In this field, the agent is usually trained and evaluated in the navigation simulators, lacking effective approaches for sim-to-real transfer. The VLN agents with only a monocular camera exhibit extremely limited performance, while the mainstream VLN models trained with panoramic observation, perform better but are difficult to deploy on most monocular robots. For this case, we propose a sim-to-real transfer approach to endow the monocular robots with panoramic traversability perception and panoramic semantic understanding, thus smoothly transferring the high-performance panoramic VLN models to the common monocular robots. In this work, the semantic traversable map is proposed to predict agent-centric navigable waypoints, and the novel view representations of these navigable waypoints are predicted through the 3D feature fields. These methods broaden the limited field of view of the monocular robots and significantly improve navigation performance in the real world. Our VLN system outperforms previous SOTA monocular VLN methods in R2R-CE and RxR-CE benchmarks within the simulation environments and is also validated in real-world environments, providing a practical and high-performance solution for real-world VLN.

MoFormer: Multi-objective Antimicrobial Peptide Generation Based on Conditional Transformer Joint Multi-modal Fusion Descriptor

Deep learning holds a big promise for optimizing existing peptides with more desirable properties, a critical step towards accelerating new drug discovery. Despite the recent emergence of several optimized Antimicrobial peptides(AMP) generation methods, multi-objective optimizations remain still quite challenging for the idealism-realism tradeoff. Here, we establish a multi-objective AMP synthesis pipeline (MoFormer) for the simultaneous optimization of multi-attributes of AMPs. MoFormer improves the desired attributes of AMP sequences in a highly structured latent space, guided by conditional constraints and fine-grained multi-descriptor.We show that MoFormer outperforms existing methods in the generation task of enhanced antimicrobial activity and minimal hemolysis. We also utilize a Pareto-based non-dominated sorting algorithm and proxies based on large model fine-tuning to hierarchically rank the candidates. We demonstrate substantial property improvement using MoFormer from two perspectives: (1) employing molecular simulations and scoring interactions among amino acids to decipher the structure and functionality of AMPs; (2) visualizing latent space to examine the qualities and distribution features, verifying an effective means to facilitate multi-objective optimization AMPs with design constraints

Lookahead Exploration with Neural Radiance Representation for Continuous Vision-Language Navigation

Vision-and-language navigation (VLN) enables the agent to navigate to a remote location following the natural language instruction in 3D environments. At each navigation step, the agent selects from possible candidate locations and then makes the move. For better navigation planning, the lookahead exploration strategy aims to effectively evaluate the agent's next action by accurately anticipating the future environment of candidate locations. To this end, some existing works predict RGB images for future environments, while this strategy suffers from image distortion and high computational cost. To address these issues, we propose the pre-trained hierarchical neural radiance representation model (HNR) to produce multi-level semantic features for future environments, which are more robust and efficient than pixel-wise RGB reconstruction. Furthermore, with the predicted future environmental representations, our lookahead VLN model is able to construct the navigable future path tree and select the optimal path via efficient parallel evaluation. Extensive experiments on the VLN-CE datasets confirm the effectiveness of our method.

Detecting Machine-Generated Texts by Multi-Population Aware Optimization for Maximum Mean Discrepancy

Large language models (LLMs) such as ChatGPT have exhibited remarkable performance in generating human-like texts. However, machine-generated texts (MGTs) may carry critical risks, such as plagiarism issues, misleading information, or hallucination issues. Therefore, it is very urgent and important to detect MGTs in many situations. Unfortunately, it is challenging to distinguish MGTs and human-written texts because the distributional discrepancy between them is often very subtle due to the remarkable performance of LLMs. In this paper, we seek to exploit \textit{maximum mean discrepancy} (MMD) to address this issue in the sense that MMD can well identify distributional discrepancies. However, directly training a detector with MMD using diverse MGTs will incur a significantly increased variance of MMD since MGTs may contain \textit{multiple text populations} due to various LLMs. This will severely impair MMD's ability to measure the difference between two samples. To tackle this, we propose a novel \textit{multi-population} aware optimization method for MMD called MMD-MP, which can \textit{avoid variance increases} and thus improve the stability to measure the distributional discrepancy. Relying on MMD-MP, we develop two methods for paragraph-based and sentence-based detection, respectively. Extensive experiments on various LLMs, \eg, GPT2 and ChatGPT, show superior detection performance of our MMD-MP. The source code is available at \url{https://github.com/ZSHsh98/MMD-MP}.

GridMM: Grid Memory Map for Vision-and-Language Navigation

Vision-and-language navigation (VLN) enables the agent to navigate to a remote location following the natural language instruction in 3D environments. To represent the previously visited environment, most approaches for VLN implement memory using recurrent states, topological maps, or top-down semantic maps. In contrast to these approaches, we build the top-down egocentric and dynamically growing Grid Memory Map (i.e., GridMM) to structure the visited environment. From a global perspective, historical observations are projected into a unified grid map in a top-down view, which can better represent the spatial relations of the environment. From a local perspective, we further propose an instruction relevance aggregation method to capture fine-grained visual clues in each grid region. Extensive experiments are conducted on both the REVERIE, R2R, SOON datasets in the discrete environments, and the R2R-CE dataset in the continuous environments, showing the superiority of our proposed method.

Detecting Adversarial Data by Probing Multiple Perturbations Using Expected Perturbation Score

Adversarial detection aims to determine whether a given sample is an adversarial one based on the discrepancy between natural and adversarial distributions. Unfortunately, estimating or comparing two data distributions is extremely difficult, especially in high-dimension spaces. Recently, the gradient of log probability density (a.k.a., score) w.r.t. the sample is used as an alternative statistic to compute. However, we find that the score is sensitive in identifying adversarial samples due to insufficient information with one sample only. In this paper, we propose a new statistic called expected perturbation score (EPS), which is essentially the expected score of a sample after various perturbations. Specifically, to obtain adequate information regarding one sample, we perturb it by adding various noises to capture its multi-view observations. We theoretically prove that EPS is a proper statistic to compute the discrepancy between two samples under mild conditions. In practice, we can use a pre-trained diffusion model to estimate EPS for each sample. Last, we propose an EPS-based adversarial detection (EPS-AD) method, in which we develop EPS-based maximum mean discrepancy (MMD) as a metric to measure the discrepancy between the test sample and natural samples. We also prove that the EPS-based MMD between natural and adversarial samples is larger than that among natural samples. Extensive experiments show the superior adversarial detection performance of our EPS-AD.

Robust Category-Level 3D Pose Estimation from Synthetic Data

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically generated training data is a viable alternative, the domain shift between real and synthetic data is a significant challenge. In this work, we aim to narrow the performance gap between models trained on synthetic data and few real images and fully supervised models trained on large-scale data. We achieve this by approaching the problem from two perspectives: 1) We introduce SyntheticP3D, a new synthetic dataset for object pose estimation generated from CAD models and enhanced with a novel algorithm. 2) We propose a novel approach (CC3D) for training neural mesh models that perform pose estimation via inverse rendering. In particular, we exploit the spatial relationships between features on the mesh surface and a contrastive learning scheme to guide the domain adaptation process. Combined, these two approaches enable our models to perform competitively with state-of-the-art models using only 10% of the respective real training images, while outperforming the SOTA model by 10.4% with a threshold of pi/18 using only 50% of the real training data. Our trained model further demonstrates robust generalization to out-of-distribution scenarios despite being trained with minimal real data.

KERM: Knowledge Enhanced Reasoning for Vision-and-Language Navigation

Vision-and-language navigation (VLN) is the task to enable an embodied agent to navigate to a remote location following the natural language instruction in real scenes. Most of the previous approaches utilize the entire features or object-centric features to represent navigable candidates. However, these representations are not efficient enough for an agent to perform actions to arrive the target location. As knowledge provides crucial information which is complementary to visible content, in this paper, we propose a Knowledge Enhanced Reasoning Model (KERM) to leverage knowledge to improve agent navigation ability. Specifically, we first retrieve facts (i.e., knowledge described by language descriptions) for the navigation views based on local regions from the constructed knowledge base. The retrieved facts range from properties of a single object (e.g., color, shape) to relationships between objects (e.g., action, spatial position), providing crucial information for VLN. We further present the KERM which contains the purification, fact-aware interaction, and instruction-guided aggregation modules to integrate visual, history, instruction, and fact features. The proposed KERM can automatically select and gather crucial and relevant cues, obtaining more accurate action prediction. Experimental results on the REVERIE, R2R, and SOON datasets demonstrate the effectiveness of the proposed method.