VTAO-BiManip: Masked Visual-Tactile-Action Pre-training with Object Understanding for Bimanual Dexterous Manipulation

Bimanual dexterous manipulation remains significant challenges in robotics due to the high DoFs of each hand and their coordination. Existing single-hand manipulation techniques often leverage human demonstrations to guide RL methods but fail to generalize to complex bimanual tasks involving multiple sub-skills. In this paper, we introduce VTAO-BiManip, a novel framework that combines visual-tactile-action pretraining with object understanding to facilitate curriculum RL to enable human-like bimanual manipulation. We improve prior learning by incorporating hand motion data, providing more effective guidance for dual-hand coordination than binary tactile feedback. Our pretraining model predicts future actions as well as object pose and size using masked multimodal inputs, facilitating cross-modal regularization. To address the multi-skill learning challenge, we introduce a two-stage curriculum RL approach to stabilize training. We evaluate our method on a bottle-cap unscrewing task, demonstrating its effectiveness in both simulated and real-world environments. Our approach achieves a success rate that surpasses existing visual-tactile pretraining methods by over 20%.

Distillation Matters: Empowering Sequential Recommenders to Match the Performance of Large Language Model

Owing to their powerful semantic reasoning capabilities, Large Language Models (LLMs) have been effectively utilized as recommenders, achieving impressive performance. However, the high inference latency of LLMs significantly restricts their practical deployment. To address this issue, this work investigates knowledge distillation from cumbersome LLM-based recommendation models to lightweight conventional sequential models. It encounters three challenges: 1) the teacher's knowledge may not always be reliable; 2) the capacity gap between the teacher and student makes it difficult for the student to assimilate the teacher's knowledge; 3) divergence in semantic space poses a challenge to distill the knowledge from embeddings. To tackle these challenges, this work proposes a novel distillation strategy, DLLM2Rec, specifically tailored for knowledge distillation from LLM-based recommendation models to conventional sequential models. DLLM2Rec comprises: 1) Importance-aware ranking distillation, which filters reliable and student-friendly knowledge by weighting instances according to teacher confidence and student-teacher consistency; 2) Collaborative embedding distillation integrates knowledge from teacher embeddings with collaborative signals mined from the data. Extensive experiments demonstrate the effectiveness of the proposed DLLM2Rec, boosting three typical sequential models with an average improvement of 47.97%, even enabling them to surpass LLM-based recommenders in some cases.

Adaptive Confidence Multi-View Hashing for Multimedia Retrieval

The multi-view hash method converts heterogeneous data from multiple views into binary hash codes, which is one of the critical technologies in multimedia retrieval. However, the current methods mainly explore the complementarity among multiple views while lacking confidence learning and fusion. Moreover, in practical application scenarios, the single-view data contain redundant noise. To conduct the confidence learning and eliminate unnecessary noise, we propose a novel Adaptive Confidence Multi-View Hashing (ACMVH) method. First, a confidence network is developed to extract useful information from various single-view features and remove noise information. Furthermore, an adaptive confidence multi-view network is employed to measure the confidence of each view and then fuse multi-view features through a weighted summation. Lastly, a dilation network is designed to further enhance the feature representation of the fused features. To the best of our knowledge, we pioneer the application of confidence learning into the field of multimedia retrieval. Extensive experiments on two public datasets show that the proposed ACMVH performs better than state-of-the-art methods (maximum increase of 3.24%). The source code is available at https://github.com/HackerHyper/ACMVH.

Central Similarity Multi-View Hashing for Multimedia Retrieval

Hash representation learning of multi-view heterogeneous data is the key to improving the accuracy of multimedia retrieval. However, existing methods utilize local similarity and fall short of deeply fusing the multi-view features, resulting in poor retrieval accuracy. Current methods only use local similarity to train their model. These methods ignore global similarity. Furthermore, most recent works fuse the multi-view features via a weighted sum or concatenation. We contend that these fusion methods are insufficient for capturing the interaction between various views. We present a novel Central Similarity Multi-View Hashing (CSMVH) method to address the mentioned problems. Central similarity learning is used for solving the local similarity problem, which can utilize the global similarity between the hash center and samples. We present copious empirical data demonstrating the superiority of gate-based fusion over conventional approaches. On the MS COCO and NUS-WIDE, the proposed CSMVH performs better than the state-of-the-art methods by a large margin (up to 11.41% mean Average Precision (mAP) improvement).

Deep Metric Multi-View Hashing for Multimedia Retrieval

Learning the hash representation of multi-view heterogeneous data is an important task in multimedia retrieval. However, existing methods fail to effectively fuse the multi-view features and utilize the metric information provided by the dissimilar samples, leading to limited retrieval precision. Current methods utilize weighted sum or concatenation to fuse the multi-view features. We argue that these fusion methods cannot capture the interaction among different views. Furthermore, these methods ignored the information provided by the dissimilar samples. We propose a novel deep metric multi-view hashing (DMMVH) method to address the mentioned problems. Extensive empirical evidence is presented to show that gate-based fusion is better than typical methods. We introduce deep metric learning to the multi-view hashing problems, which can utilize metric information of dissimilar samples. On the MIR-Flickr25K, MS COCO, and NUS-WIDE, our method outperforms the current state-of-the-art methods by a large margin (up to 15.28 mean Average Precision (mAP) improvement).

DexRepNet: Learning Dexterous Robotic Grasping Network with Geometric and Spatial Hand-Object Representations

Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep reinforcement learning (DRL) based methods leverage human demonstrations to reduce sample complexity due to the high dimensional action space with dexterous grasping. However, less attention has been paid to hand-object interaction representations for high-level generalization. In this paper, we propose a novel geometric and spatial hand-object interaction representation, named DexRep, to capture dynamic object shape features and the spatial relations between hands and objects during grasping. DexRep comprises Occupancy Feature for rough shapes within sensing range by moving hands, Surface Feature for changing hand-object surface distances, and Local-Geo Feature for local geometric surface features most related to potential contacts. Based on the new representation, we propose a dexterous deep reinforcement learning method to learn a generalizable grasping policy DexRepNet. Experimental results show that our method outperforms baselines using existing representations for robotic grasping dramatically both in grasp success rate and convergence speed. It achieves a 93% grasping success rate on seen objects and higher than 80% grasping success rates on diverse objects of unseen categories in both simulation and real-world experiments.

VReBERT: A Simple and Flexible Transformer for Visual Relationship Detection

Visual Relationship Detection (VRD) impels a computer vision model to 'see' beyond an individual object instance and 'understand' how different objects in a scene are related. The traditional way of VRD is first to detect objects in an image and then separately predict the relationship between the detected object instances. Such a disjoint approach is prone to predict redundant relationship tags (i.e., predicate) between the same object pair with similar semantic meaning, or incorrect ones that have a similar meaning to the ground truth but are semantically incorrect. To remedy this, we propose to jointly train a VRD model with visual object features and semantic relationship features. To this end, we propose VReBERT, a BERT-like transformer model for Visual Relationship Detection with a multi-stage training strategy to jointly process visual and semantic features. We show that our simple BERT-like model is able to outperform the state-of-the-art VRD models in predicate prediction. Furthermore, we show that by using the pre-trained VReBERT model, our model pushes the state-of-the-art zero-shot predicate prediction by a significant margin (+8.49 R@50 and +8.99 R@100).