Yuda Fan

Xiaoxing Wang, Xiangxiang Chu, Yuda Fan et al.

Albeit being a prevalent architecture searching approach, differentiable architecture search (DARTS) is largely hindered by its substantial memory cost since the entire supernet resides in the memory. This is where the single-path DARTS comes in, which only chooses a single-path submodel at each step. While being memory-friendly, it also comes with low computational costs. Nonetheless, we discover a critical issue of single-path DARTS that has not been primarily noticed. Namely, it also suffers from severe performance collapse since too many parameter-free operations like skip connections are derived, just like DARTS does. In this paper, we propose a new algorithm called RObustifying Memory-Efficient NAS (ROME) to give a cure. First, we disentangle the topology search from the operation search to make searching and evaluation consistent. We then adopt Gumbel-Top2 reparameterization and gradient accumulation to robustify the unwieldy bi-level optimization. We verify ROME extensively across 15 benchmarks to demonstrate its effectiveness and robustness.

Xiangyu Chen, Zelin Ye, Jiankai Sun et al.

Grasping in cluttered scenes is challenging for robot vision systems, as detection accuracy can be hindered by partial occlusion of objects. We adopt a reinforcement learning (RL) framework and 3D vision architectures to search for feasible viewpoints for grasping by the use of hand-mounted RGB-D cameras. To overcome the disadvantages of photo-realistic environment simulation, we propose a large-scale dataset called Real Embodied Dataset (RED), which includes full-viewpoint real samples on the upper hemisphere with amodal annotation and enables a simulator that has real visual feedback. Based on this dataset, a practical 3-stage transferable active grasping pipeline is developed, that is adaptive to unseen clutter scenes. In our pipeline, we propose a novel mask-guided reward to overcome the sparse reward issue in grasping and ensure category-irrelevant behavior. The grasping pipeline and its possible variants are evaluated with extensive experiments both in simulation and on a real-world UR-5 robotic arm.

Xuehui Sun, Zihan Zhou, Yuda Fan

In the current field of computer vision, automatically generating texts from given images has been a fully worked technique. Up till now, most works of this area focus on image content describing, namely image-captioning. However, rare researches focus on generating product review texts, which is ubiquitous in the online shopping malls and is crucial for online shopping selection and evaluation. Different from content describing, review texts include more subjective information of customers, which may bring difference to the results. Therefore, we aimed at a new field concerning generating review text from customers based on images together with the ratings of online shopping products, which appear as non-image attributes. We made several adjustments to the existing image-captioning model to fit our task, in which we should also take non-image features into consideration. We also did experiments based on our model and get effective primary results.