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Add to EdgeSelf-Calibrating 4D Novel View Synthesis from Monocular Videos Using Gaussian Splatting
Jun 03, 2024
Gaussian Splatting (GS) has significantly elevated scene reconstruction efficiency and novel view synthesis (NVS) accuracy compared to Neural Radiance Fields (NeRF), particularly for dynamic scenes. However, current 4D NVS methods, whether based on GS or NeRF, primarily rely on camera parameters provided by COLMAP and even utilize sparse point clouds generated by COLMAP for initialization, which lack accuracy as well are time-consuming. This sometimes results in poor dynamic scene representation, especially in scenes with large object movements, or extreme camera conditions e.g. small translations combined with large rotations. Some studies simultaneously optimize the estimation of camera parameters and scenes, supervised by additional information like depth, optical flow, etc. obtained from off-the-shelf models. Using this unverified information as ground truth can reduce robustness and accuracy, which does frequently occur for long monocular videos (with e.g. > hundreds of frames). We propose a novel approach that learns a high-fidelity 4D GS scene representation with self-calibration of camera parameters. It includes the extraction of 2D point features that robustly represent 3D structure, and their use for subsequent joint optimization of camera parameters and 3D structure towards overall 4D scene optimization. We demonstrate the accuracy and time efficiency of our method through extensive quantitative and qualitative experimental results on several standard benchmarks. The results show significant improvements over state-of-the-art methods for 4D novel view synthesis. The source code will be released soon at https://github.com/fangli333/SC-4DGS.
MotionLLM: Understanding Human Behaviors from Human Motions and Videos
May 30, 2024This study delves into the realm of multi-modality (i.e., video and motion modalities) human behavior understanding by leveraging the powerful capabilities of Large Language Models (LLMs). Diverging from recent LLMs designed for video-only or motion-only understanding, we argue that understanding human behavior necessitates joint modeling from both videos and motion sequences (e.g., SMPL sequences) to capture nuanced body part dynamics and semantics effectively. In light of this, we present MotionLLM, a straightforward yet effective framework for human motion understanding, captioning, and reasoning. Specifically, MotionLLM adopts a unified video-motion training strategy that leverages the complementary advantages of existing coarse video-text data and fine-grained motion-text data to glean rich spatial-temporal insights. Furthermore, we collect a substantial dataset, MoVid, comprising diverse videos, motions, captions, and instructions. Additionally, we propose the MoVid-Bench, with carefully manual annotations, for better evaluation of human behavior understanding on video and motion. Extensive experiments show the superiority of MotionLLM in the caption, spatial-temporal comprehension, and reasoning ability.
CtrlA: Adaptive Retrieval-Augmented Generation via Probe-Guided Control
May 29, 2024Retrieval-augmented generation (RAG) has emerged as a promising solution for mitigating hallucinations of large language models (LLMs) with retrieved external knowledge. Adaptive RAG enhances this approach by dynamically assessing the retrieval necessity, aiming to balance external and internal knowledge usage. However, existing adaptive RAG methods primarily realize retrieval on demand by relying on superficially verbalize-based or probability-based feedback of LLMs, or directly fine-tuning LLMs via carefully crafted datasets, resulting in unreliable retrieval necessity decisions, heavy extra costs, and sub-optimal response generation. We present the first attempts to delve into the internal states of LLMs to mitigate such issues by introducing an effective probe-guided adaptive RAG framework, termed CtrlA. Specifically, CtrlA employs an honesty probe to regulate the LLM's behavior by manipulating its representations for increased honesty, and a confidence probe to monitor the internal states of LLM and assess confidence levels, determining the retrieval necessity during generation. Experiments show that CtrlA is superior to existing adaptive RAG methods on a diverse set of tasks, the honesty control can effectively make LLMs more honest and confidence monitoring is proven to be a promising indicator of retrieval trigger. Our codes are available at https://github.com/HSLiu-Initial/CtrlA.git.
Evaluating the External and Parametric Knowledge Fusion of Large Language Models
May 29, 2024Integrating external knowledge into large language models (LLMs) presents a promising solution to overcome the limitations imposed by their antiquated and static parametric memory. Prior studies, however, have tended to over-reliance on external knowledge, underestimating the valuable contributions of an LLMs' intrinsic parametric knowledge. The efficacy of LLMs in blending external and parametric knowledge remains largely unexplored, especially in cases where external knowledge is incomplete and necessitates supplementation by their parametric knowledge. We propose to deconstruct knowledge fusion into four distinct scenarios, offering the first thorough investigation of LLM behavior across each. We develop a systematic pipeline for data construction and knowledge infusion to simulate these fusion scenarios, facilitating a series of controlled experiments. Our investigation reveals that enhancing parametric knowledge within LLMs can significantly bolster their capability for knowledge integration. Nonetheless, we identify persistent challenges in memorizing and eliciting parametric knowledge, and determining parametric knowledge boundaries. Our findings aim to steer future explorations on harmonizing external and parametric knowledge within LLMs.
Meta-Task Planning for Language Agents
May 28, 2024The rapid advancement of neural language models has sparked a new surge of intelligent agent research. Unlike traditional agents, large language model-based agents (LLM agents) have emerged as a promising paradigm for achieving artificial general intelligence (AGI) due to their superior reasoning and generalization capabilities. Effective planning is crucial for the success of LLM agents in real-world tasks, making it a highly pursued topic in the community. Current planning methods typically translate tasks into executable action sequences. However, determining a feasible or optimal sequence for complex tasks at fine granularity, which often requires compositing long chains of heterogeneous actions, remains challenging. This paper introduces Meta-Task Planning (MTP), a zero-shot methodology for collaborative LLM-based multi-agent systems that simplifies complex task planning by decomposing it into a hierarchy of subordinate tasks, or meta-tasks. Each meta-task is then mapped into executable actions. MTP was assessed on two rigorous benchmarks, TravelPlanner and API-Bank. Notably, MTP achieved an average $\sim40\%$ success rate on TravelPlanner, significantly higher than the state-of-the-art (SOTA) baseline ($2.92\%$), and outperforming $LLM_{api}$-4 with ReAct on API-Bank by $\sim14\%$, showing the immense potential of integrating LLM with multi-agent systems.
EASI-Tex: Edge-Aware Mesh Texturing from Single Image
May 27, 2024We present a novel approach for single-image mesh texturing, which employs a diffusion model with judicious conditioning to seamlessly transfer an object's texture from a single RGB image to a given 3D mesh object. We do not assume that the two objects belong to the same category, and even if they do, there can be significant discrepancies in their geometry and part proportions. Our method aims to rectify the discrepancies by conditioning a pre-trained Stable Diffusion generator with edges describing the mesh through ControlNet, and features extracted from the input image using IP-Adapter to generate textures that respect the underlying geometry of the mesh and the input texture without any optimization or training. We also introduce Image Inversion, a novel technique to quickly personalize the diffusion model for a single concept using a single image, for cases where the pre-trained IP-Adapter falls short in capturing all the details from the input image faithfully. Experimental results demonstrate the efficiency and effectiveness of our edge-aware single-image mesh texturing approach, coined EASI-Tex, in preserving the details of the input texture on diverse 3D objects, while respecting their geometry.
HetHub: A Heterogeneous distributed hybrid training system for large-scale models
May 25, 2024The development of large-scale models relies on a vast number of computing resources. For example, the GPT-4 model (1.8 trillion parameters) requires 25000 A100 GPUs for its training. It is a challenge to build a large-scale cluster with a type of GPU-accelerator. Using multiple types of GPU-accelerators to construct a cluster is an effective way to solve the problem of insufficient homogeneous GPU-accelerators. However, the existing distributed training systems for large-scale models only support homogeneous GPU-accelerators, not heterogeneous GPU-accelerators. To address the problem, this paper proposes a distributed training system with hybrid parallelism support on heterogeneous GPU-accelerators for large-scale models. It introduces a distributed unified communicator to realize the communication between heterogeneous GPU-accelerators, a distributed performance predictor, and an automatic hybrid parallel module to develop and train models efficiently with heterogeneous GPU-accelerators. Compared to the distributed training system with homogeneous GPU-accelerators, our system can support six different combinations of heterogeneous GPU-accelerators and the optimal performance of heterogeneous GPU-accelerators has achieved at least 90% of the theoretical upper bound performance of homogeneous GPU-accelerators.
Optimal Reference Nodes Deployment for Positioning Seafloor Anchor Nodes
May 24, 2024Seafloor anchor nodes, which form a geodetic network, are designed to provide surface and underwater users with positioning, navigation and timing (PNT) services. Due to the non-uniform distribution of underwater sound speed, accurate positioning of underwater anchor nodes is a challenge work. Traditional anchor node positioning typically uses cross or circular shapes, however, how to optimize the deployment of reference nodes for positioning underwater anchor nodes considering the variability of sound speed has not yet been studied. This paper focuses on the optimal reference nodes deployment strategies for time--of--arrival (TOA) localization in the three-dimensional (3D) underwater space. We adopt the criterion that minimizing the trace of the inverse Fisher information matrix (FIM) to determine optimal reference nodes deployment with Gaussian measurement noise, which is positive related to the signal propagation path. A comprehensive analysis of optimal reference-target geometries is provided in the general circumstance with no restriction on the number of reference nodes, elevation angle and reference-target range. A new semi-closed form solution is found to detemine the optimal geometries. To demonstrate the findings in this paper, we conducted both simulations and sea trials on underwater anchor node positioning. Both the simulation and experiment results are consistent with theoretical analysis.
Scalable Visual State Space Model with Fractal Scanning
May 23, 2024Foundational models have significantly advanced in natural language processing (NLP) and computer vision (CV), with the Transformer architecture becoming a standard backbone. However, the Transformer's quadratic complexity poses challenges for handling longer sequences and higher resolution images. To address this challenge, State Space Models (SSMs) like Mamba have emerged as efficient alternatives, initially matching Transformer performance in NLP tasks and later surpassing Vision Transformers (ViTs) in various CV tasks. To improve the performance of SSMs, one crucial aspect is effective serialization of image patches. Existing methods, relying on linear scanning curves, often fail to capture complex spatial relationships and produce repetitive patterns, leading to biases. To address these limitations, we propose using fractal scanning curves for patch serialization. Fractal curves maintain high spatial proximity and adapt to different image resolutions, avoiding redundancy and enhancing SSMs' ability to model complex patterns accurately. We validate our method in image classification, detection, and segmentation tasks, and the superior performance validates its effectiveness.
Tele-Aloha: A Low-budget and High-authenticity Telepresence System Using Sparse RGB Cameras
May 23, 2024In this paper, we present a low-budget and high-authenticity bidirectional telepresence system, Tele-Aloha, targeting peer-to-peer communication scenarios. Compared to previous systems, Tele-Aloha utilizes only four sparse RGB cameras, one consumer-grade GPU, and one autostereoscopic screen to achieve high-resolution (2048x2048), real-time (30 fps), low-latency (less than 150ms) and robust distant communication. As the core of Tele-Aloha, we propose an efficient novel view synthesis algorithm for upper-body. Firstly, we design a cascaded disparity estimator for obtaining a robust geometry cue. Additionally a neural rasterizer via Gaussian Splatting is introduced to project latent features onto target view and to decode them into a reduced resolution. Further, given the high-quality captured data, we leverage weighted blending mechanism to refine the decoded image into the final resolution of 2K. Exploiting world-leading autostereoscopic display and low-latency iris tracking, users are able to experience a strong three-dimensional sense even without any wearable head-mounted display device. Altogether, our telepresence system demonstrates the sense of co-presence in real-life experiments, inspiring the next generation of communication.