LaNMP: A Language-Conditioned Mobile Manipulation Benchmark for Autonomous Robots

As robots that follow natural language become more capable and prevalent, we need a benchmark to holistically develop and evaluate their ability to solve long-horizon mobile manipulation tasks in large, diverse environments. To tackle this challenge, robots must use visual and language understanding, navigation, and manipulation capabilities. Existing datasets do not integrate all these aspects, restricting their efficacy as benchmarks. To address this gap, we present the Language, Navigation, Manipulation, Perception (LaNMP, pronounced Lamp) dataset and demonstrate the benefits of integrating these four capabilities and various modalities. LaNMP comprises 574 trajectories across eight simulated and real-world environments for long-horizon room-to-room pick-and-place tasks specified by natural language. Every trajectory consists of over 20 attributes, including RGB-D images, segmentations, and the poses of the robot body, end-effector, and grasped objects. We fine-tuned and tested two models in simulation, and evaluated a third on a physical robot, to demonstrate the benchmark's applicability in development and evaluation, as well as making models more sample efficient. The models performed suboptimally compared to humans; however, showed promise in increasing model sample efficiency, indicating significant room for developing more sample efficient multimodal mobile manipulation models using our benchmark.

NovelGym: A Flexible Ecosystem for Hybrid Planning and Learning Agents Designed for Open Worlds

As AI agents leave the lab and venture into the real world as autonomous vehicles, delivery robots, and cooking robots, it is increasingly necessary to design and comprehensively evaluate algorithms that tackle the ``open-world''. To this end, we introduce NovelGym, a flexible and adaptable ecosystem designed to simulate gridworld environments, serving as a robust platform for benchmarking reinforcement learning (RL) and hybrid planning and learning agents in open-world contexts. The modular architecture of NovelGym facilitates rapid creation and modification of task environments, including multi-agent scenarios, with multiple environment transformations, thus providing a dynamic testbed for researchers to develop open-world AI agents.

Dynamic Causal Disentanglement Model for Dialogue Emotion Detection

Emotion detection is a critical technology extensively employed in diverse fields. While the incorporation of commonsense knowledge has proven beneficial for existing emotion detection methods, dialogue-based emotion detection encounters numerous difficulties and challenges due to human agency and the variability of dialogue content.In dialogues, human emotions tend to accumulate in bursts. However, they are often implicitly expressed. This implies that many genuine emotions remain concealed within a plethora of unrelated words and dialogues.In this paper, we propose a Dynamic Causal Disentanglement Model based on hidden variable separation, which is founded on the separation of hidden variables. This model effectively decomposes the content of dialogues and investigates the temporal accumulation of emotions, thereby enabling more precise emotion recognition. First, we introduce a novel Causal Directed Acyclic Graph (DAG) to establish the correlation between hidden emotional information and other observed elements. Subsequently, our approach utilizes pre-extracted personal attributes and utterance topics as guiding factors for the distribution of hidden variables, aiming to separate irrelevant ones. Specifically, we propose a dynamic temporal disentanglement model to infer the propagation of utterances and hidden variables, enabling the accumulation of emotion-related information throughout the conversation. To guide this disentanglement process, we leverage the ChatGPT-4.0 and LSTM networks to extract utterance topics and personal attributes as observed information.Finally, we test our approach on two popular datasets in dialogue emotion detection and relevant experimental results verified the model's superiority.

Category Query Learning for Human-Object Interaction Classification

Unlike most previous HOI methods that focus on learning better human-object features, we propose a novel and complementary approach called category query learning. Such queries are explicitly associated to interaction categories, converted to image specific category representation via a transformer decoder, and learnt via an auxiliary image-level classification task. This idea is motivated by an earlier multi-label image classification method, but is for the first time applied for the challenging human-object interaction classification task. Our method is simple, general and effective. It is validated on three representative HOI baselines and achieves new state-of-the-art results on two benchmarks.

SOLQ: Segmenting Objects by Learning Queries

In this paper, we propose an end-to-end framework for instance segmentation. Based on the recently introduced DETR [1], our method, termed SOLQ, segments objects by learning unified queries. In SOLQ, each query represents one object and has multiple representations: class, location and mask. The object queries learned perform classification, box regression and mask encoding simultaneously in an unified vector form. During training phase, the mask vectors encoded are supervised by the compression coding of raw spatial masks. In inference time, mask vectors produced can be directly transformed to spatial masks by the inverse process of compression coding. Experimental results show that SOLQ can achieve state-of-the-art performance, surpassing most of existing approaches. Moreover, the joint learning of unified query representation can greatly improve the detection performance of original DETR. We hope our SOLQ can serve as a strong baseline for the Transformer-based instance segmentation. Code is available at https://github.com/megvii-research/SOLQ.

MOTR: End-to-End Multiple-Object Tracking with TRansformer

The key challenge in multiple-object tracking (MOT) task is temporal modeling of the object under track. Existing tracking-by-detection methods adopt simple heuristics, such as spatial or appearance similarity. Such methods, in spite of their commonality, are overly simple and insufficient to model complex variations, such as tracking through occlusion. Inherently, existing methods lack the ability to learn temporal variations from data. In this paper, we present MOTR, the first fully end-to-end multiple-object tracking framework. It learns to model the long-range temporal variation of the objects. It performs temporal association implicitly and avoids previous explicit heuristics. Built on Transformer and DETR, MOTR introduces the concept of "track query". Each track query models the entire track of an object. It is transferred and updated frame-by-frame to perform object detection and tracking, in a seamless manner. Temporal aggregation network combined with multi-frame training is proposed to model the long-range temporal relation. Experimental results show that MOTR achieves state-of-the-art performance. Code is available at https://github.com/megvii-model/MOTR.

Dynamic Metric Learning: Towards a Scalable Metric Space to Accommodate Multiple Semantic Scales

This paper introduces a new fundamental characteristic, \ie, the dynamic range, from real-world metric tools to deep visual recognition. In metrology, the dynamic range is a basic quality of a metric tool, indicating its flexibility to accommodate various scales. Larger dynamic range offers higher flexibility. In visual recognition, the multiple scale problem also exist. Different visual concepts may have different semantic scales. For example, ``Animal'' and ``Plants'' have a large semantic scale while ``Elk'' has a much smaller one. Under a small semantic scale, two different elks may look quite \emph{different} to each other . However, under a large semantic scale (\eg, animals and plants), these two elks should be measured as being \emph{similar}. %We argue that such flexibility is also important for deep metric learning, because different visual concepts indeed correspond to different semantic scales. Introducing the dynamic range to deep metric learning, we get a novel computer vision task, \ie, the Dynamic Metric Learning. It aims to learn a scalable metric space to accommodate visual concepts across multiple semantic scales. Based on three types of images, \emph{i.e.}, vehicle, animal and online products, we construct three datasets for Dynamic Metric Learning. We benchmark these datasets with popular deep metric learning methods and find Dynamic Metric Learning to be very challenging. The major difficulty lies in a conflict between different scales: the discriminative ability under a small scale usually compromises the discriminative ability under a large one, and vice versa. As a minor contribution, we propose Cross-Scale Learning (CSL) to alleviate such conflict. We show that CSL consistently improves the baseline on all the three datasets. The datasets and the code will be publicly available at https://github.com/SupetZYK/DynamicMetricLearning.

End-to-End Human Object Interaction Detection with HOI Transformer

We propose HOI Transformer to tackle human object interaction (HOI) detection in an end-to-end manner. Current approaches either decouple HOI task into separated stages of object detection and interaction classification or introduce surrogate interaction problem. In contrast, our method, named HOI Transformer, streamlines the HOI pipeline by eliminating the need for many hand-designed components. HOI Transformer reasons about the relations of objects and humans from global image context and directly predicts HOI instances in parallel. A quintuple matching loss is introduced to force HOI predictions in a unified way. Our method is conceptually much simpler and demonstrates improved accuracy. Without bells and whistles, HOI Transformer achieves $26.61\% $ $ AP $ on HICO-DET and $52.9\%$ $AP_{role}$ on V-COCO, surpassing previous methods with the advantage of being much simpler. We hope our approach will serve as a simple and effective alternative for HOI tasks. Code is available at https://github.com/bbepoch/HoiTransformer .

Spherical Feature Transform for Deep Metric Learning

Data augmentation in feature space is effective to increase data diversity. Previous methods assume that different classes have the same covariance in their feature distributions. Thus, feature transform between different classes is performed via translation. However, this approach is no longer valid for recent deep metric learning scenarios, where feature normalization is widely adopted and all features lie on a hypersphere. This work proposes a novel spherical feature transform approach. It relaxes the assumption of identical covariance between classes to an assumption of similar covariances of different classes on a hypersphere. Consequently, the feature transform is performed by a rotation that respects the spherical data distributions. We provide a simple and effective training method, and in depth analysis on the relation between the two different transforms. Comprehensive experiments on various deep metric learning benchmarks and different baselines verify that our method achieves consistent performance improvement and state-of-the-art results.

Prime-Aware Adaptive Distillation

Knowledge distillation(KD) aims to improve the performance of a student network by mimicing the knowledge from a powerful teacher network. Existing methods focus on studying what knowledge should be transferred and treat all samples equally during training. This paper introduces the adaptive sample weighting to KD. We discover that previous effective hard mining methods are not appropriate for distillation. Furthermore, we propose Prime-Aware Adaptive Distillation (PAD) by the incorporation of uncertainty learning. PAD perceives the prime samples in distillation and then emphasizes their effect adaptively. PAD is fundamentally different from and would refine existing methods with the innovative view of unequal training. For this reason, PAD is versatile and has been applied in various tasks including classification, metric learning, and object detection. With ten teacher-student combinations on six datasets, PAD promotes the performance of existing distillation methods and outperforms recent state-of-the-art methods.