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Add to EdgeDiffGen: Robot Demonstration Generation via Differentiable Physics Simulation, Differentiable Rendering, and Vision-Language Model
May 12, 2024
Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample efficiency. Recently, a line of work has attempted to generate robot demonstrations via differentiable simulation, which is promising but heavily relies on reward design, a labor-intensive process. In this paper, we propose DiffGen, a novel framework that integrates differentiable physics simulation, differentiable rendering, and a vision-language model to enable automatic and efficient generation of robot demonstrations. Given a simulated robot manipulation scenario and a natural language instruction, DiffGen can generate realistic robot demonstrations by minimizing the distance between the embedding of the language instruction and the embedding of the simulated observation after manipulation. The embeddings are obtained from the vision-language model, and the optimization is achieved by calculating and descending gradients through the differentiable simulation, differentiable rendering, and vision-language model components, thereby accomplishing the specified task. Experiments demonstrate that with DiffGen, we could efficiently and effectively generate robot data with minimal human effort or training time.
Lookahead Exploration with Neural Radiance Representation for Continuous Vision-Language Navigation
Apr 02, 2024Vision-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.
Synthesizing Knowledge-enhanced Features for Real-world Zero-shot Food Detection
Feb 14, 2024Food computing brings various perspectives to computer vision like vision-based food analysis for nutrition and health. As a fundamental task in food computing, food detection needs Zero-Shot Detection (ZSD) on novel unseen food objects to support real-world scenarios, such as intelligent kitchens and smart restaurants. Therefore, we first benchmark the task of Zero-Shot Food Detection (ZSFD) by introducing FOWA dataset with rich attribute annotations. Unlike ZSD, fine-grained problems in ZSFD like inter-class similarity make synthesized features inseparable. The complexity of food semantic attributes further makes it more difficult for current ZSD methods to distinguish various food categories. To address these problems, we propose a novel framework ZSFDet to tackle fine-grained problems by exploiting the interaction between complex attributes. Specifically, we model the correlation between food categories and attributes in ZSFDet by multi-source graphs to provide prior knowledge for distinguishing fine-grained features. Within ZSFDet, Knowledge-Enhanced Feature Synthesizer (KEFS) learns knowledge representation from multiple sources (e.g., ingredients correlation from knowledge graph) via the multi-source graph fusion. Conditioned on the fusion of semantic knowledge representation, the region feature diffusion model in KEFS can generate fine-grained features for training the effective zero-shot detector. Extensive evaluations demonstrate the superior performance of our method ZSFDet on FOWA and the widely-used food dataset UECFOOD-256, with significant improvements by 1.8% and 3.7% ZSD mAP compared with the strong baseline RRFS. Further experiments on PASCAL VOC and MS COCO prove that enhancement of the semantic knowledge can also improve the performance on general ZSD. Code and dataset are available at https://github.com/LanceZPF/KEFS.
SeeDS: Semantic Separable Diffusion Synthesizer for Zero-shot Food Detection
Oct 07, 2023
Food detection is becoming a fundamental task in food computing that supports various multimedia applications, including food recommendation and dietary monitoring. To deal with real-world scenarios, food detection needs to localize and recognize novel food objects that are not seen during training, demanding Zero-Shot Detection (ZSD). However, the complexity of semantic attributes and intra-class feature diversity poses challenges for ZSD methods in distinguishing fine-grained food classes. To tackle this, we propose the Semantic Separable Diffusion Synthesizer (SeeDS) framework for Zero-Shot Food Detection (ZSFD). SeeDS consists of two modules: a Semantic Separable Synthesizing Module (S$^3$M) and a Region Feature Denoising Diffusion Model (RFDDM). The S$^3$M learns the disentangled semantic representation for complex food attributes from ingredients and cuisines, and synthesizes discriminative food features via enhanced semantic information. The RFDDM utilizes a novel diffusion model to generate diversified region features and enhances ZSFD via fine-grained synthesized features. Extensive experiments show the state-of-the-art ZSFD performance of our proposed method on two food datasets, ZSFooD and UECFOOD-256. Moreover, SeeDS also maintains effectiveness on general ZSD datasets, PASCAL VOC and MS COCO. The code and dataset can be found at https://github.com/LanceZPF/SeeDS.
GridMM: Grid Memory Map for Vision-and-Language Navigation
Jul 25, 2023
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.
KERM: Knowledge Enhanced Reasoning for Vision-and-Language Navigation
Mar 28, 2023
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.
Deep Learning for Logo Detection: A Survey
Oct 10, 2022
When logos are increasingly created, logo detection has gradually become a research hotspot across many domains and tasks. Recent advances in this area are dominated by deep learning-based solutions, where many datasets, learning strategies, network architectures, etc. have been employed. This paper reviews the advance in applying deep learning techniques to logo detection. Firstly, we discuss a comprehensive account of public datasets designed to facilitate performance evaluation of logo detection algorithms, which tend to be more diverse, more challenging, and more reflective of real life. Next, we perform an in-depth analysis of the existing logo detection strategies and the strengths and weaknesses of each learning strategy. Subsequently, we summarize the applications of logo detection in various fields, from intelligent transportation and brand monitoring to copyright and trademark compliance. Finally, we analyze the potential challenges and present the future directions for the development of logo detection to complete this survey.
Hierarchical Object-to-Zone Graph for Object Navigation
Sep 09, 2021
The goal of object navigation is to reach the expected objects according to visual information in the unseen environments. Previous works usually implement deep models to train an agent to predict actions in real-time. However, in the unseen environment, when the target object is not in egocentric view, the agent may not be able to make wise decisions due to the lack of guidance. In this paper, we propose a hierarchical object-to-zone (HOZ) graph to guide the agent in a coarse-to-fine manner, and an online-learning mechanism is also proposed to update HOZ according to the real-time observation in new environments. In particular, the HOZ graph is composed of scene nodes, zone nodes and object nodes. With the pre-learned HOZ graph, the real-time observation and the target goal, the agent can constantly plan an optimal path from zone to zone. In the estimated path, the next potential zone is regarded as sub-goal, which is also fed into the deep reinforcement learning model for action prediction. Our methods are evaluated on the AI2-Thor simulator. In addition to widely used evaluation metrics SR and SPL, we also propose a new evaluation metric of SAE that focuses on the effective action rate. Experimental results demonstrate the effectiveness and efficiency of our proposed method.
Discriminative Semantic Feature Pyramid Network with Guided Anchoring for Logo Detection
Aug 31, 2021
Recently, logo detection has received more and more attention for its wide applications in the multimedia field, such as intellectual property protection, product brand management, and logo duration monitoring. Unlike general object detection, logo detection is a challenging task, especially for small logo objects and large aspect ratio logo objects in the real-world scenario. In this paper, we propose a novel approach, named Discriminative Semantic Feature Pyramid Network with Guided Anchoring (DSFP-GA), which can address these challenges via aggregating the semantic information and generating different aspect ratio anchor boxes. More specifically, our approach mainly consists of Discriminative Semantic Feature Pyramid (DSFP) and Guided Anchoring (GA). Considering that low-level feature maps that are used to detect small logo objects lack semantic information, we propose the DSFP, which can enrich more discriminative semantic features of low-level feature maps and can achieve better performance on small logo objects. Furthermore, preset anchor boxes are less efficient for detecting large aspect ratio logo objects. We therefore integrate the GA into our method to generate large aspect ratio anchor boxes to mitigate this issue. Extensive experimental results on four benchmarks demonstrate the effectiveness of our proposed DSFP-GA. Moreover, we further conduct visual analysis and ablation studies to illustrate the advantage of our method in detecting small and large aspect logo objects. The code and models can be found at https://github.com/Zhangbaisong/DSFP-GA.
FoodLogoDet-1500: A Dataset for Large-Scale Food Logo Detection via Multi-Scale Feature Decoupling Network
Aug 10, 2021
Food logo detection plays an important role in the multimedia for its wide real-world applications, such as food recommendation of the self-service shop and infringement detection on e-commerce platforms. A large-scale food logo dataset is urgently needed for developing advanced food logo detection algorithms. However, there are no available food logo datasets with food brand information. To support efforts towards food logo detection, we introduce the dataset FoodLogoDet-1500, a new large-scale publicly available food logo dataset, which has 1,500 categories, about 100,000 images and about 150,000 manually annotated food logo objects. We describe the collection and annotation process of FoodLogoDet-1500, analyze its scale and diversity, and compare it with other logo datasets. To the best of our knowledge, FoodLogoDet-1500 is the first largest publicly available high-quality dataset for food logo detection. The challenge of food logo detection lies in the large-scale categories and similarities between food logo categories. For that, we propose a novel food logo detection method Multi-scale Feature Decoupling Network (MFDNet), which decouples classification and regression into two branches and focuses on the classification branch to solve the problem of distinguishing multiple food logo categories. Specifically, we introduce the feature offset module, which utilizes the deformation-learning for optimal classification offset and can effectively obtain the most representative features of classification in detection. In addition, we adopt a balanced feature pyramid in MFDNet, which pays attention to global information, balances the multi-scale feature maps, and enhances feature extraction capability. Comprehensive experiments on FoodLogoDet-1500 and other two benchmark logo datasets demonstrate the effectiveness of the proposed method. The FoodLogoDet-1500 can be found at this https URL.