Abstract:Unthinking execution of human instructions in robotic manipulation can lead to severe safety risks, such as poisonings, fires, and even explosions. In this paper, we present responsible robotic manipulation, which requires robots to consider potential hazards in the real-world environment while completing instructions and performing complex operations safely and efficiently. However, such scenarios in real world are variable and risky for training. To address this challenge, we propose Safety-as-policy, which includes (i) a world model to automatically generate scenarios containing safety risks and conduct virtual interactions, and (ii) a mental model to infer consequences with reflections and gradually develop the cognition of safety, allowing robots to accomplish tasks while avoiding dangers. Additionally, we create the SafeBox synthetic dataset, which includes one hundred responsible robotic manipulation tasks with different safety risk scenarios and instructions, effectively reducing the risks associated with real-world experiments. Experiments demonstrate that Safety-as-policy can avoid risks and efficiently complete tasks in both synthetic dataset and real-world experiments, significantly outperforming baseline methods. Our SafeBox dataset shows consistent evaluation results with real-world scenarios, serving as a safe and effective benchmark for future research.
Abstract:As large-scale models evolve, language instructions are increasingly utilized in multi-modal tasks. Due to human language habits, these instructions often contain ambiguities in real-world scenarios, necessitating the integration of visual context or common sense for accurate interpretation. However, even highly intelligent large models exhibit significant performance limitations on ambiguous instructions, where weak reasoning abilities of disambiguation can lead to catastrophic errors. To address this issue, this paper proposes Visual-O1, a multi-modal multi-turn chain-of-thought reasoning framework. It simulates human multi-modal multi-turn reasoning, providing instantial experience for highly intelligent models or empirical experience for generally intelligent models to understand ambiguous instructions. Unlike traditional methods that require models to possess high intelligence to understand long texts or perform lengthy complex reasoning, our framework does not significantly increase computational overhead and is more general and effective, even for generally intelligent models. Experiments show that our method not only significantly enhances the performance of models of different intelligence levels on ambiguous instructions but also improves their performance on general datasets. Our work highlights the potential of artificial intelligence to work like humans in real-world scenarios with uncertainty and ambiguity. We will release our data and code.
Abstract:With the advancement of generative models, the synthesis of different sensory elements such as music, visuals, and speech has achieved significant realism. However, the approach to generate multi-sensory outputs has not been fully explored, limiting the application on high-value scenarios such as of directing a film. Developing a movie director agent faces two major challenges: (1) Lack of parallelism and online scheduling with production steps: In the production of multi-sensory films, there are complex dependencies between different sensory elements, and the production time for each element varies. (2) Diverse needs and clear communication demands with users: Users often cannot clearly express their needs until they see a draft, which requires human-computer interaction and iteration to continually adjust and optimize the film content based on user feedback. To address these issues, we introduce AutoDirector, an interactive multi-sensory composition framework that supports long shots, special effects, music scoring, dubbing, and lip-syncing. This framework improves the efficiency of multi-sensory film production through automatic scheduling and supports the modification and improvement of interactive tasks to meet user needs. AutoDirector not only expands the application scope of human-machine collaboration but also demonstrates the potential of AI in collaborating with humans in the role of a film director to complete multi-sensory films.
Abstract:With recent advancements in visual synthesis, there is a growing risk of encountering images with detrimental effects, such as hate, discrimination, or privacy violations. The research on transforming harmful images into responsible ones remains unexplored. In this paper, we formulate a new task, responsible visual editing, which entails modifying specific concepts within an image to render it more responsible while minimizing changes. However, the concept that needs to be edited is often abstract, making it challenging to locate what needs to be modified and plan how to modify it. To tackle these challenges, we propose a Cognitive Editor (CoEditor) that harnesses the large multimodal model through a two-stage cognitive process: (1) a perceptual cognitive process to focus on what needs to be modified and (2) a behavioral cognitive process to strategize how to modify. To mitigate the negative implications of harmful images on research, we create a transparent and public dataset, AltBear, which expresses harmful information using teddy bears instead of humans. Experiments demonstrate that CoEditor can effectively comprehend abstract concepts within complex scenes and significantly surpass the performance of baseline models for responsible visual editing. We find that the AltBear dataset corresponds well to the harmful content found in real images, offering a consistent experimental evaluation, thereby providing a safer benchmark for future research. Moreover, CoEditor also shows great results in general editing. We release our code and dataset at https://github.com/kodenii/Responsible-Visual-Editing.
Abstract:Zero-shot referring image segmentation is a challenging task because it aims to find an instance segmentation mask based on the given referring descriptions, without training on this type of paired data. Current zero-shot methods mainly focus on using pre-trained discriminative models (e.g., CLIP). However, we have observed that generative models (e.g., Stable Diffusion) have potentially understood the relationships between various visual elements and text descriptions, which are rarely investigated in this task. In this work, we introduce a novel Referring Diffusional segmentor (Ref-Diff) for this task, which leverages the fine-grained multi-modal information from generative models. We demonstrate that without a proposal generator, a generative model alone can achieve comparable performance to existing SOTA weakly-supervised models. When we combine both generative and discriminative models, our Ref-Diff outperforms these competing methods by a significant margin. This indicates that generative models are also beneficial for this task and can complement discriminative models for better referring segmentation. Our code is publicly available at https://github.com/kodenii/Ref-Diff.
Abstract:Avoiding synthesizing specific visual concepts is an essential challenge in responsible visual synthesis. However, the visual concept that needs to be avoided for responsible visual synthesis tends to be diverse, depending on the region, context, and usage scenarios. In this work, we formalize a new task, Open-vocabulary Responsible Visual Synthesis (ORES), where the synthesis model is able to avoid forbidden visual concepts while allowing users to input any desired content. To address this problem, we present a Two-stage Intervention (TIN) framework. By introducing 1) rewriting with learnable instruction through a large-scale language model (LLM) and 2) synthesizing with prompt intervention on a diffusion synthesis model, it can effectively synthesize images avoiding any concepts but following the user's query as much as possible. To evaluate on ORES, we provide a publicly available dataset, baseline models, and benchmark. Experimental results demonstrate the effectiveness of our method in reducing risks of image generation. Our work highlights the potential of LLMs in responsible visual synthesis. Our code and dataset is public available.
Abstract:In this paper, we propose NUWA-XL, a novel Diffusion over Diffusion architecture for eXtremely Long video generation. Most current work generates long videos segment by segment sequentially, which normally leads to the gap between training on short videos and inferring long videos, and the sequential generation is inefficient. Instead, our approach adopts a ``coarse-to-fine'' process, in which the video can be generated in parallel at the same granularity. A global diffusion model is applied to generate the keyframes across the entire time range, and then local diffusion models recursively fill in the content between nearby frames. This simple yet effective strategy allows us to directly train on long videos (3376 frames) to reduce the training-inference gap, and makes it possible to generate all segments in parallel. To evaluate our model, we build FlintstonesHD dataset, a new benchmark for long video generation. Experiments show that our model not only generates high-quality long videos with both global and local coherence, but also decreases the average inference time from 7.55min to 26s (by 94.26\%) at the same hardware setting when generating 1024 frames. The homepage link is \url{https://msra-nuwa.azurewebsites.net/}
Abstract:3D photography renders a static image into a video with appealing 3D visual effects. Existing approaches typically first conduct monocular depth estimation, then render the input frame to subsequent frames with various viewpoints, and finally use an inpainting model to fill those missing/occluded regions. The inpainting model plays a crucial role in rendering quality, but it is normally trained on out-of-domain data. To reduce the training and inference gap, we propose a novel self-supervised diffusion model as the inpainting module. Given a single input image, we automatically construct a training pair of the masked occluded image and the ground-truth image with random cycle-rendering. The constructed training samples are closely aligned to the testing instances, without the need of data annotation. To make full use of the masked images, we design a Masked Enhanced Block (MEB), which can be easily plugged into the UNet and enhance the semantic conditions. Towards real-world animation, we present a novel task: out-animation, which extends the space and time of input objects. Extensive experiments on real datasets show that our method achieves competitive results with existing SOTA methods.
Abstract:Without the demand of training in reality, humans can easily detect a known concept simply based on its language description. Empowering deep learning with this ability undoubtedly enables the neural network to handle complex vision tasks, e.g., object detection, without collecting and annotating real images. To this end, this paper introduces a novel challenging learning paradigm Imaginary-Supervised Object Detection (ISOD), where neither real images nor manual annotations are allowed for training object detectors. To resolve this challenge, we propose ImaginaryNet, a framework to synthesize images by combining pretrained language model and text-to-image synthesis model. Given a class label, the language model is used to generate a full description of a scene with a target object, and the text-to-image model deployed to generate a photo-realistic image. With the synthesized images and class labels, weakly supervised object detection can then be leveraged to accomplish ISOD. By gradually introducing real images and manual annotations, ImaginaryNet can collaborate with other supervision settings to further boost detection performance. Experiments show that ImaginaryNet can (i) obtain about 70% performance in ISOD compared with the weakly supervised counterpart of the same backbone trained on real data, (ii) significantly improve the baseline while achieving state-of-the-art or comparable performance by incorporating ImaginaryNet with other supervision settings.
Abstract:Language guided image inpainting aims to fill in the defective regions of an image under the guidance of text while keeping non-defective regions unchanged. However, the encoding process of existing models suffers from either receptive spreading of defective regions or information loss of non-defective regions, giving rise to visually unappealing inpainting results. To address the above issues, this paper proposes N\"UWA-LIP by incorporating defect-free VQGAN (DF-VQGAN) with multi-perspective sequence to sequence (MP-S2S). In particular, DF-VQGAN introduces relative estimation to control receptive spreading and adopts symmetrical connections to protect information. MP-S2S further enhances visual information from complementary perspectives, including both low-level pixels and high-level tokens. Experiments show that DF-VQGAN performs more robustness than VQGAN. To evaluate the inpainting performance of our model, we built up 3 open-domain benchmarks, where N\"UWA-LIP is also superior to recent strong baselines.