Shuyu Yang

Shuyu Yang, Yinan Zhou, Yaxiong Wang et al.

In this paper, we introduce a large Multi-Attribute and Language Search dataset for text-based person retrieval, called MALS, and explore the feasibility of performing pre-training on both attribute recognition and image-text matching tasks in one stone. In particular, MALS contains 1,510,330 image-text pairs, which is about 37.5 times larger than prevailing CUHK-PEDES, and all images are annotated with 27 attributes. Considering the privacy concerns and annotation costs, we leverage the off-the-shelf diffusion models to generate the dataset. To verify the feasibility of learning from the generated data, we develop a new joint Attribute Prompt Learning and Text Matching Learning (APTM) framework, considering the shared knowledge between attribute and text. As the name implies, APTM contains an attribute prompt learning stream and a text matching learning stream. (1) The attribute prompt learning leverages the attribute prompts for image-attribute alignment, which enhances the text matching learning. (2) The text matching learning facilitates the representation learning on fine-grained details, and in turn, boosts the attribute prompt learning. Extensive experiments validate the effectiveness of the pre-training on MALS, achieving state-of-the-art retrieval performance via APTM on three challenging real-world benchmarks. In particular, APTM achieves a consistent improvement of +6.96%, +7.68%, and +16.95% Recall@1 accuracy on CUHK-PEDES, ICFG-PEDES, and RSTPReid datasets by a clear margin, respectively.

Qingfeng Yao, Jilong Wan, Shuyu Yang et al.

Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance the performance of the robot in diverse manipulation tasks. Several prior works have investigated legged mobile manipulation from the viewpoint of control theory. However, modeling a unified structure for various robotic arms and quadruped robots is a challenging task. In this paper, we propose a unified framework disturbance predictive control where a reinforcement learning scheme with a latent dynamic adapter is embedded into our proposed low-level controller. Our method can adapt well to various types of robotic arms with a few random motion samples and the experimental results demonstrate the effectiveness of our method.

Qingfeng Yao, Jilong Wang, Shuyu Yang et al.

The essence of quadrupeds' movements is the movement of the center of gravity, which has a pattern in the action of quadrupeds. However, the gait motion planning of the quadruped robot is time-consuming. Animals in nature can provide a large amount of gait information for robots to learn and imitate. Common methods learn animal posture with a motion capture system or numerous motion data points. In this paper, we propose a video imitation adaptation network (VIAN) that can imitate the action of animals and adapt it to the robot from a few seconds of video. The deep learning model extracts key points during animal motion from videos. The VIAN eliminates noise and extracts key information of motion with a motion adaptor, and then applies the extracted movements function as the motion pattern into deep reinforcement learning (DRL). To ensure similarity between the learning result and the animal motion in the video, we introduce rewards that are based on the consistency of the motion. DRL explores and learns to maintain balance from movement patterns from videos, imitates the action of animals, and eventually, allows the model to learn the gait or skills from short motion videos of different animals and to transfer the motion pattern to the real robot.

Hongyin Zhang, Shuyu Yang, Donglin Wang

Online reinforcement learning (RL) methods are often data-inefficient or unreliable, making them difficult to train on real robotic hardware, especially quadruped robots. Learning robotic tasks from pre-collected data is a promising direction. Meanwhile, agile and stable legged robotic locomotion remains an open question in their general form. Offline reinforcement learning (ORL) has the potential to make breakthroughs in this challenging field, but its current bottleneck lies in the lack of diverse datasets for challenging realistic tasks. To facilitate the development of ORL, we benchmarked 11 ORL algorithms in the realistic quadrupedal locomotion dataset. Such dataset is collected by the classic model predictive control (MPC) method, rather than the model-free online RL method commonly used by previous benchmarks. Extensive experimental results show that the best-performing ORL algorithms can achieve competitive performance compared with the model-free RL, and even surpass it in some tasks. However, there is still a gap between the learning-based methods and MPC, especially in terms of stability and rapid adaptation. Our proposed benchmark will serve as a development platform for testing and evaluating the performance of ORL algorithms in real-world legged locomotion tasks.

Shuyu Yang, Yaxiong Wang, Li Zhu et al.

Text-based person search aims to retrieve specific individuals across camera networks using natural language descriptions. However, current benchmarks often exhibit biases towards common actions like walking or standing, neglecting the critical need for identifying abnormal behaviors in real-world scenarios. To meet such demands, we propose a new task, text-based person anomaly search, locating pedestrians engaged in both routine or anomalous activities via text. To enable the training and evaluation of this new task, we construct a large-scale image-text Pedestrian Anomaly Behavior (PAB) benchmark, featuring a broad spectrum of actions, e.g., running, performing, playing soccer, and the corresponding anomalies, e.g., lying, being hit, and falling of the same identity. The training set of PAB comprises 1,013,605 synthesized image-text pairs of both normalities and anomalies, while the test set includes 1,978 real-world image-text pairs. To validate the potential of PAB, we introduce a cross-modal pose-aware framework, which integrates human pose patterns with identity-based hard negative pair sampling. Extensive experiments on the proposed benchmark show that synthetic training data facilitates the fine-grained behavior retrieval, and the proposed pose-aware method arrives at 84.93% recall@1 accuracy, surpassing other competitive methods. The dataset, model, and code are available at https://github.com/Shuyu-XJTU/CMP.

Shuyu Yang, Yaxiong Wang, Yongrui Li et al.

In this work, we focus on text-based person retrieval, which aims to identify individuals based on textual descriptions. Given the significant privacy issues and the high cost associated with manual annotation, synthetic data has become a popular choice for pretraining models, leading to notable advancements. However, the considerable domain gap between synthetic pretraining datasets and real-world target datasets, characterized by differences in lighting, color, and viewpoint, remains a critical obstacle that hinders the effectiveness of the pretrain-finetune paradigm. To bridge this gap, we introduce a unified text-based person retrieval pipeline considering domain adaptation at both image and region levels. In particular, it contains two primary components, i.e., Domain-aware Diffusion (DaD) for image-level adaptation and Multi-granularity Relation Alignment (MRA) for region-level adaptation. As the name implies, Domain-aware Diffusion is to migrate the distribution of images from the pretraining dataset domain to the target real-world dataset domain, e.g., CUHK-PEDES. Subsequently, MRA performs a meticulous region-level alignment by establishing correspondences between visual regions and their descriptive sentences, thereby addressing disparities at a finer granularity. Extensive experiments show that our dual-level adaptation method has achieved state-of-the-art results on the CUHK-PEDES, ICFG-PEDES, and RSTPReid datasets, outperforming existing methodologies. The dataset, model, and code are available at https://github.com/Shuyu-XJTU/MRA.

Qingfeng Yao, Jilong Wang, Shuyu Yang

Deep reinforcement learning has shown its advantages in real-time decision-making based on the state of the agent. In this stage, we solved the task of using a real robot to manipulate the cube to a given trajectory. The task is broken down into different procedures and we propose a hierarchical structure, the high-level deep reinforcement learning model selects appropriate contact positions and the low-level control module performs the position control under the corresponding trajectory. Our framework reduces the disadvantage of low sample efficiency of deep reinforcement learning and lacking adaptability of traditional robot control methods. Our algorithm is trained in simulation and migrated to reality without fine-tuning. The experimental results show the effectiveness of our method both simulation and reality. Our code and video can be found at https://github.com/42jaylonw/RRC2021ThreeWolves and https://youtu.be/Jr176xsn9wg.

Shuyu Yang, Yilun Wang, Yaxiong Wang et al.

Video anomaly retrieval aims to localize anomalous events in videos using natural language queries to facilitate public safety. However, existing datasets suffer from severe limitations: (1) data scarcity due to the long-tail nature of real-world anomalies, and (2) privacy constraints that impede large-scale collection. To address the aforementioned issues in one go, we introduce SVTA (Synthetic Video-Text Anomaly benchmark), the first large-scale dataset for cross-modal anomaly retrieval, leveraging generative models to overcome data availability challenges. Specifically, we collect and generate video descriptions via the off-the-shelf LLM (Large Language Model) covering 68 anomaly categories, e.g., throwing, stealing, and shooting. These descriptions encompass common long-tail events. We adopt these texts to guide the video generative model to produce diverse and high-quality videos. Finally, our SVTA involves 41,315 videos (1.36M frames) with paired captions, covering 30 normal activities, e.g., standing, walking, and sports, and 68 anomalous events, e.g., falling, fighting, theft, explosions, and natural disasters. We adopt three widely-used video-text retrieval baselines to comprehensively test our SVTA, revealing SVTA's challenging nature and its effectiveness in evaluating a robust cross-modal retrieval method. SVTA eliminates privacy risks associated with real-world anomaly collection while maintaining realistic scenarios. The dataset demo is available at: [https://svta-mm.github.io/SVTA.github.io/].

Yinan Zhou, Yuxin Chen, Haokun Lin et al.

With recent advances in Multimodal Large Language Models (MLLMs), grounding and referring capabilities have gained increasing attention for achieving detailed understanding and flexible user interaction. However, these capabilities still remain underdeveloped in visual document understanding due to the scarcity of fine-grained datasets and comprehensive benchmarks. To fill this gap, we propose the DOcument Grounding and Referring data engine (DOGR-Engine), which generates two types of high-quality fine-grained document data: (1) multi-granular parsing data to improve text localization and recognition, and (2) instruction-tuning data to activate MLLMs' grounding and referring capabilities in dialogue and reasoning. Using the DOGR-Engine, we construct DOGR-Bench, a benchmark covering seven grounding and referring tasks across three document types (chart, poster, and PDF document), offering a comprehensive evaluation of fine-grained document understanding. Leveraging the generated data, we further develop DOGR, a strong baseline model that excels in text localization and recognition, while precisely grounds and refers to key textual information during conversation and reasoning, thereby advancing document understanding to a finer granularity and enable flexible interaction paradigms.

Stefan Bauer, Felix Widmaier, Manuel Wüthrich et al.

Dexterous manipulation remains an open problem in robotics. To coordinate efforts of the research community towards tackling this problem, we propose a shared benchmark. We designed and built robotic platforms that are hosted at MPI for Intelligent Systems and can be accessed remotely. Each platform consists of three robotic fingers that are capable of dexterous object manipulation. Users are able to control the platforms remotely by submitting code that is executed automatically, akin to a computational cluster. Using this setup, i) we host robotics competitions, where teams from anywhere in the world access our platforms to tackle challenging tasks ii) we publish the datasets collected during these competitions (consisting of hundreds of robot hours), and iii) we give researchers access to these platforms for their own projects.