Zhuo Xu

Hao-Tien Lewis Chiang, Zhuo Xu, Zipeng Fu et al. · berkeley

An elusive goal in navigation research is to build an intelligent agent that can understand multimodal instructions including natural language and image, and perform useful navigation. To achieve this, we study a widely useful category of navigation tasks we call Multimodal Instruction Navigation with demonstration Tours (MINT), in which the environment prior is provided through a previously recorded demonstration video. Recent advances in Vision Language Models (VLMs) have shown a promising path in achieving this goal as it demonstrates capabilities in perceiving and reasoning about multimodal inputs. However, VLMs are typically trained to predict textual output and it is an open research question about how to best utilize them in navigation. To solve MINT, we present Mobility VLA, a hierarchical Vision-Language-Action (VLA) navigation policy that combines the environment understanding and common sense reasoning power of long-context VLMs and a robust low-level navigation policy based on topological graphs. The high-level policy consists of a long-context VLM that takes the demonstration tour video and the multimodal user instruction as input to find the goal frame in the tour video. Next, a low-level policy uses the goal frame and an offline constructed topological graph to generate robot actions at every timestep. We evaluated Mobility VLA in a 836m^2 real world environment and show that Mobility VLA has a high end-to-end success rates on previously unsolved multimodal instructions such as "Where should I return this?" while holding a plastic bin. A video demonstrating Mobility VLA can be found here: https://youtu.be/-Tof__Q8_5s

Jiayuan Gu, Sean Kirmani, Paul Wohlhart et al.

Generalization remains one of the most important desiderata for robust robot learning systems. While recently proposed approaches show promise in generalization to novel objects, semantic concepts, or visual distribution shifts, generalization to new tasks remains challenging. For example, a language-conditioned policy trained on pick-and-place tasks will not be able to generalize to a folding task, even if the arm trajectory of folding is similar to pick-and-place. Our key insight is that this kind of generalization becomes feasible if we represent the task through rough trajectory sketches. We propose a policy conditioning method using such rough trajectory sketches, which we call RT-Trajectory, that is practical, easy to specify, and allows the policy to effectively perform new tasks that would otherwise be challenging to perform. We find that trajectory sketches strike a balance between being detailed enough to express low-level motion-centric guidance while being coarse enough to allow the learned policy to interpret the trajectory sketch in the context of situational visual observations. In addition, we show how trajectory sketches can provide a useful interface to communicate with robotic policies: they can be specified through simple human inputs like drawings or videos, or through automated methods such as modern image-generating or waypoint-generating methods. We evaluate RT-Trajectory at scale on a variety of real-world robotic tasks, and find that RT-Trajectory is able to perform a wider range of tasks compared to language-conditioned and goal-conditioned policies, when provided the same training data.

Yue Wang, Yao Wan, Lu Bai et al.

To alleviate the challenges of building Knowledge Graphs (KG) from scratch, a more general task is to enrich a KG using triples from an open corpus, where the obtained triples contain noisy entities and relations. It is challenging to enrich a KG with newly harvested triples while maintaining the quality of the knowledge representation. This paper proposes a system to refine a KG using information harvested from an additional corpus. To this end, we formulate our task as two coupled sub-tasks, namely join event extraction (JEE) and knowledge graph fusion (KGF). We then propose a Collaborative Knowledge Graph Fusion Framework to allow our sub-tasks to mutually assist one another in an alternating manner. More concretely, the explorer carries out the JEE supervised by both the ground-truth annotation and an existing KG provided by the supervisor. The supervisor then evaluates the triples extracted by the explorer and enriches the KG with those that are highly ranked. To implement this evaluation, we further propose a Translated Relation Alignment Scoring Mechanism to align and translate the extracted triples to the prior KG. Experiments verify that this collaboration can both improve the performance of the JEE and the KGF.

Soroush Nasiriany, Fei Xia, Wenhao Yu et al.

Vision language models (VLMs) have shown impressive capabilities across a variety of tasks, from logical reasoning to visual understanding. This opens the door to richer interaction with the world, for example robotic control. However, VLMs produce only textual outputs, while robotic control and other spatial tasks require outputting continuous coordinates, actions, or trajectories. How can we enable VLMs to handle such settings without fine-tuning on task-specific data? In this paper, we propose a novel visual prompting approach for VLMs that we call Prompting with Iterative Visual Optimization (PIVOT), which casts tasks as iterative visual question answering. In each iteration, the image is annotated with a visual representation of proposals that the VLM can refer to (e.g., candidate robot actions, localizations, or trajectories). The VLM then selects the best ones for the task. These proposals are iteratively refined, allowing the VLM to eventually zero in on the best available answer. We investigate PIVOT on real-world robotic navigation, real-world manipulation from images, instruction following in simulation, and additional spatial inference tasks such as localization. We find, perhaps surprisingly, that our approach enables zero-shot control of robotic systems without any robot training data, navigation in a variety of environments, and other capabilities. Although current performance is far from perfect, our work highlights potentials and limitations of this new regime and shows a promising approach for Internet-Scale VLMs in robotic and spatial reasoning domains. Website: pivot-prompt.github.io and HuggingFace: https://huggingface.co/spaces/pivot-prompt/pivot-prompt-demo.

Gheorghe Comanici, Eric Bieber, Mike Schaekermann et al. · amazon-science, baidu

In this report, we introduce the Gemini 2.X model family: Gemini 2.5 Pro and Gemini 2.5 Flash, as well as our earlier Gemini 2.0 Flash and Flash-Lite models. Gemini 2.5 Pro is our most capable model yet, achieving SoTA performance on frontier coding and reasoning benchmarks. In addition to its incredible coding and reasoning skills, Gemini 2.5 Pro is a thinking model that excels at multimodal understanding and it is now able to process up to 3 hours of video content. Its unique combination of long context, multimodal and reasoning capabilities can be combined to unlock new agentic workflows. Gemini 2.5 Flash provides excellent reasoning abilities at a fraction of the compute and latency requirements and Gemini 2.0 Flash and Flash-Lite provide high performance at low latency and cost. Taken together, the Gemini 2.X model generation spans the full Pareto frontier of model capability vs cost, allowing users to explore the boundaries of what is possible with complex agentic problem solving.

Boyuan Chen, Zhuo Xu, Sean Kirmani et al. · mit

Understanding and reasoning about spatial relationships is a fundamental capability for Visual Question Answering (VQA) and robotics. While Vision Language Models (VLM) have demonstrated remarkable performance in certain VQA benchmarks, they still lack capabilities in 3D spatial reasoning, such as recognizing quantitative relationships of physical objects like distances or size differences. We hypothesize that VLMs' limited spatial reasoning capability is due to the lack of 3D spatial knowledge in training data and aim to solve this problem by training VLMs with Internet-scale spatial reasoning data. To this end, we present a system to facilitate this approach. We first develop an automatic 3D spatial VQA data generation framework that scales up to 2 billion VQA examples on 10 million real-world images. We then investigate various factors in the training recipe, including data quality, training pipeline, and VLM architecture. Our work features the first internet-scale 3D spatial reasoning dataset in metric space. By training a VLM on such data, we significantly enhance its ability on both qualitative and quantitative spatial VQA. Finally, we demonstrate that this VLM unlocks novel downstream applications in chain-of-thought spatial reasoning and robotics due to its quantitative estimation capability. Project website: https://spatial-vlm.github.io/

Kaifeng Zhang, Shuo Sha, Hanxiao Jiang et al.

Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for tasks involving deformable objects. Simulation provides a scalable and systematic alternative, yet existing simulators often fail to capture the coupled visual and physical complexity of soft-body interactions. We present a real-to-sim policy evaluation framework that constructs soft-body digital twins from real-world videos and renders robots, objects, and environments with photorealistic fidelity using 3D Gaussian Splatting. We validate our approach on representative deformable manipulation tasks, including plush toy packing, rope routing, and T-block pushing, demonstrating that simulated rollouts correlate strongly with real-world execution performance and reveal key behavioral patterns of learned policies. Our results suggest that combining physics-informed reconstruction with high-quality rendering enables reproducible, scalable, and accurate evaluation of robotic manipulation policies. Website: https://real2sim-eval.github.io/

Michael Ahn, Debidatta Dwibedi, Chelsea Finn et al.

Foundation models that incorporate language, vision, and more recently actions have revolutionized the ability to harness internet scale data to reason about useful tasks. However, one of the key challenges of training embodied foundation models is the lack of data grounded in the physical world. In this paper, we propose AutoRT, a system that leverages existing foundation models to scale up the deployment of operational robots in completely unseen scenarios with minimal human supervision. AutoRT leverages vision-language models (VLMs) for scene understanding and grounding, and further uses large language models (LLMs) for proposing diverse and novel instructions to be performed by a fleet of robots. Guiding data collection by tapping into the knowledge of foundation models enables AutoRT to effectively reason about autonomy tradeoffs and safety while significantly scaling up data collection for robot learning. We demonstrate AutoRT proposing instructions to over 20 robots across multiple buildings and collecting 77k real robot episodes via both teleoperation and autonomous robot policies. We experimentally show that such "in-the-wild" data collected by AutoRT is significantly more diverse, and that AutoRT's use of LLMs allows for instruction following data collection robots that can align to human preferences.

Yecheng Jason Ma, Joey Hejna, Ayzaan Wahid et al.

Predicting temporal progress from visual trajectories is important for intelligent robots that can learn, adapt, and improve. However, learning such progress estimator, or temporal value function, across different tasks and domains requires both a large amount of diverse data and methods which can scale and generalize. To address these challenges, we present Generative Value Learning (\GVL), a universal value function estimator that leverages the world knowledge embedded in vision-language models (VLMs) to predict task progress. Naively asking a VLM to predict values for a video sequence performs poorly due to the strong temporal correlation between successive frames. Instead, GVL poses value estimation as a temporal ordering problem over shuffled video frames; this seemingly more challenging task encourages VLMs to more fully exploit their underlying semantic and temporal grounding capabilities to differentiate frames based on their perceived task progress, consequently producing significantly better value predictions. Without any robot or task specific training, GVL can in-context zero-shot and few-shot predict effective values for more than 300 distinct real-world tasks across diverse robot platforms, including challenging bimanual manipulation tasks. Furthermore, we demonstrate that GVL permits flexible multi-modal in-context learning via examples from heterogeneous tasks and embodiments, such as human videos. The generality of GVL enables various downstream applications pertinent to visuomotor policy learning, including dataset filtering, success detection, and advantage-weighted regression -- all without any model training or finetuning.

Zhuo Xu, Rui Zhou, Yida Yin et al.

Data-driven methods have great advantages in modeling complicated human behavioral dynamics and dealing with many human-robot interaction applications. However, collecting massive and annotated real-world human datasets has been a laborious task, especially for highly interactive scenarios. On the other hand, algorithmic data generation methods are usually limited by their model capacities, making them unable to offer realistic and diverse data needed by various application users. In this work, we study trajectory-level data generation for multi-human or human-robot interaction scenarios and propose a learning-based automatic trajectory generation model, which we call Multi-Agent TRajectory generation with dIverse conteXts (MATRIX). MATRIX is capable of generating interactive human behaviors in realistic diverse contexts. We achieve this goal by modeling the explicit and interpretable objectives so that MATRIX can generate human motions based on diverse destinations and heterogeneous behaviors. We carried out extensive comparison and ablation studies to illustrate the effectiveness of our approach across various metrics. We also presented experiments that demonstrate the capability of MATRIX to serve as data augmentation for imitation-based motion planning.

Zhuo Xu, Lu Bai, Lixin Cui et al.

Graph Auto-Encoders (GAEs) are powerful tools for graph representation learning. In this paper, we develop a novel Hierarchical Cluster-based GAE (HC-GAE), that can learn effective structural characteristics for graph data analysis. To this end, during the encoding process, we commence by utilizing the hard node assignment to decompose a sample graph into a family of separated subgraphs. We compress each subgraph into a coarsened node, transforming the original graph into a coarsened graph. On the other hand, during the decoding process, we adopt the soft node assignment to reconstruct the original graph structure by expanding the coarsened nodes. By hierarchically performing the above compressing procedure during the decoding process as well as the expanding procedure during the decoding process, the proposed HC-GAE can effectively extract bidirectionally hierarchical structural features of the original sample graph. Furthermore, we re-design the loss function that can integrate the information from either the encoder or the decoder. Since the associated graph convolution operation of the proposed HC-GAE is restricted in each individual separated subgraph and cannot propagate the node information between different subgraphs, the proposed HC-GAE can significantly reduce the over-smoothing problem arising in the classical convolution-based GAEs. The proposed HC-GAE can generate effective representations for either node classification or graph classification, and the experiments demonstrate the effectiveness on real-world datasets.

Xiang Xiang, Zhuo Xu, Yao Deng et al.

The advancement of remote sensing, including satellite systems, facilitates the continuous acquisition of remote sensing imagery globally, introducing novel challenges for achieving open-world tasks. Deployed models need to continuously adjust to a constant influx of new data, which frequently exhibits diverse shifts from the data encountered during the training phase. To effectively handle the new data, models are required to detect semantic shifts, adapt to covariate shifts, and continuously update their parameters without forgetting learned knowledge, as has been considered in works on a variety of open-world tasks. However, existing studies are typically conducted within a single dataset to simulate realistic conditions, with a lack of large-scale benchmarks capable of evaluating multiple open-world tasks. In this paper, we introduce \textbf{OpenEarthSensing (OES)}, a large-scale fine-grained benchmark for open-world remote sensing. OES includes 189 scene and object categories, covering the vast majority of potential semantic shifts that may occur in the real world. Additionally, to provide a more comprehensive testbed for evaluating the generalization performance, OES encompasses five data domains with significant covariate shifts, including two RGB satellite domains, one RGB aerial domain, one multispectral RGB domain, and one infrared domain. We evaluate the baselines and existing methods for diverse tasks on OES, demonstrating that it serves as a meaningful and challenging benchmark for open-world remote sensing. The proposed dataset OES is available at https://haiv-lab.github.io/OES.

Zhuo Xu, Tianyue Zheng, Linglong Dai

The low-altitude economy (LAE) is gaining significant attention from academia and industry. Fortunately, LAE naturally aligns with near-field communications in extremely large-scale MIMO (XL-MIMO) systems. By leveraging near-field beamfocusing, LAE can precisely direct beam energy to unmanned aerial vehicles, while the additional distance dimension boosts overall spectrum efficiency. However, near-field communications in LAE still face several challenges, such as the increase in signal processing complexity and the necessity of distinguishing between far and near-field users. Inspired by the large language models (LLM) with powerful ability to handle complex problems, we apply LLM to solve challenges of near-field communications in LAE. The objective of this article is to provide a comprehensive analysis and discussion on LLM-empowered near-field communications in LAE. Specifically, we first introduce fundamentals of LLM and near-field communications, including the key advantages of LLM and key characteristics of near-field communications. Then, we reveal the opportunities and challenges of near-field communications in LAE. To address these challenges, we present a LLM-based scheme for near-field communications in LAE, and provide a case study which jointly distinguishes far and near-field users and designs multi-user precoding matrix. Finally, we outline and highlight several future research directions and open issues.

Pengyu Zhang, Xieyuanli Chen, Yuwei Chen et al.

Ground penetrating radar (GPR) based localization has gained significant recognition in robotics due to its ability to detect stable subsurface features, offering advantages in environments where traditional sensors like cameras and LiDAR may struggle. However, existing methods are primarily focused on small-scale place recognition (PR), leaving the challenges of PR in large-scale maps unaddressed. These challenges include the inherent sparsity of underground features and the variability in underground dielectric constants, which complicate robust localization. In this work, we investigate the geometric relationship between GPR echo sequences and underground scenes, leveraging the robustness of directional features to inform our network design. We introduce learnable Gabor filters for the precise extraction of directional responses, coupled with a direction-aware attention mechanism for effective geometric encoding. To further enhance performance, we incorporate a shift-invariant unit and a multi-scale aggregation strategy to better accommodate variations in di-electric constants. Experiments conducted on public datasets demonstrate that our proposed EDENet not only surpasses existing solutions in terms of PR performance but also offers advantages in model size and computational efficiency.

Zhuo Xu, Lixin Cui, Ming Li et al.

In this paper, we develop a novel local graph pooling method, namely the Separated Subgraph-based Hierarchical Pooling (SSHPool), for graph classification. We commence by assigning the nodes of a sample graph into different clusters, resulting in a family of separated subgraphs. We individually employ the local graph convolution units as the local structure to further compress each subgraph into a coarsened node, transforming the original graph into a coarsened graph. Since these subgraphs are separated by different clusters and the structural information cannot be propagated between them, the local convolution operation can significantly avoid the over-smoothing problem caused by message passing through edges in most existing Graph Neural Networks (GNNs). By hierarchically performing the proposed procedures on the resulting coarsened graph, the proposed SSHPool can effectively extract the hierarchical global features of the original graph structure, encapsulating rich intrinsic structural characteristics. Furthermore, we develop an end-to-end GNN framework associated with the SSHPool module for graph classification. Experimental results demonstrate the superior performance of the proposed model on real-world datasets.

Xiang Xiang, Qinhao Zhou, Zhuo Xu et al.

Substantial progress has been made in various techniques for open-world recognition. Out-of-distribution (OOD) detection methods can effectively distinguish between known and unknown classes in the data, while incremental learning enables continuous model knowledge updates. However, in open-world scenarios, these approaches still face limitations. Relying solely on OOD detection does not facilitate knowledge updates in the model, and incremental fine-tuning typically requires supervised conditions, which significantly deviate from open-world settings. To address these challenges, this paper proposes OpenHAIV, a novel framework that integrates OOD detection, new class discovery, and incremental continual fine-tuning into a unified pipeline. This framework allows models to autonomously acquire and update knowledge in open-world environments. The proposed framework is available at https://haiv-lab.github.io/openhaiv .

Zhuo Xu, Yue Wang, Lu Bai et al.

Event extraction, the technology that aims to automatically get the structural information from documents, has attracted more and more attention in many fields. Most existing works discuss this issue with the token-level multi-label classification framework by distinguishing the tokens as different roles while ignoring the writing styles of documents. The writing style is a special way of content organizing for documents and it is relative fixed in documents with a special field (e.g. financial, medical documents, etc.). We argue that the writing style contains important clues for judging the roles for tokens and the ignorance of such patterns might lead to the performance degradation for the existing works. To this end, we model the writing style in documents as a distribution of argument roles, i.e., Role-Rank Distribution, and propose an event extraction model with the Role-Rank Distribution based Supervision Mechanism to capture this pattern through the supervised training process of an event extraction task. We compare our model with state-of-the-art methods on several real-world datasets. The empirical results show that our approach outperforms other alternatives with the captured patterns. This verifies the writing style contains valuable information that could improve the performance of the event extraction task.

Rui Zhou, Hongyu Zhou, Huidong Gao et al.

Accurate, long-term forecasting of pedestrian trajectories in highly dynamic and interactive scenes is a long-standing challenge. Recent advances in using data-driven approaches have achieved significant improvements in terms of prediction accuracy. However, the lack of group-aware analysis has limited the performance of forecasting models. This is especially nonnegligible in highly crowded scenes, where pedestrians are moving in groups and the interactions between groups are extremely complex and dynamic. In this paper, we present Grouptron, a multi-scale dynamic forecasting framework that leverages pedestrian group detection and utilizes individual-level, group-level and scene-level information for better understanding and representation of the scenes. Our approach employs spatio-temporal clustering algorithms to identify pedestrian groups, creates spatio-temporal graphs at the individual, group, and scene levels. It then uses graph neural networks to encode dynamics at different scales and aggregate the embeddings for trajectory prediction. We conducted extensive comparisons and ablation experiments to demonstrate the effectiveness of our approach. Our method achieves 9.3% decrease in final displacement error (FDE) compared with state-of-the-art methods on ETH/UCY benchmark datasets, and 16.1% decrease in FDE in more crowded scenes where extensive human group interactions are more frequently present.

Zhuo Xu, Masayoshi Tomizuka

In this extended abstract, we investigate the design of learning representation for human intention inference. In our designed human intention prediction task, we propose a history encoding representation that is both interpretable and effective for prediction. Through extensive experiments, we show our prediction framework with a history encoding representation design is successful on the human intention prediction problem.

Yuchen He, Sihong Duan, Jianxing Li et al.

Ghost imaging (GI) has been paid attention gradually because of its lens-less imaging capability, turbulence-free imaging and high detection sensitivity. However, low image quality and slow imaging speed restrict the application process of GI. In this paper, we propose a improved GI method based on Denoising Convolutional Neural Networks (DnCNN). Inspired by the corresponding between input (noisy image) and output (residual image) in DnCNN, we construct the mapping between speckles sequence and the corresponding noise distribution in GI through training. Then, the same speckles sequence is employed to illuminate unknown targets, and a de-noising target image will be obtained. The proposed method can be regarded as a general method for GI. Under two sampling rates, extensive experiments are carried out to compare with traditional GI method (basic correlation and compressed sensing) and DnCNN method on three data sets. Moreover, we set up a physical GI experiment system to verify the proposed method. The results show that the proposed method achieves promising performance.

Yuchen He, Yibing Chen, Sheng Luo et al.

Nowadays, target recognition technique plays an important role in many fields. However, the current target image information based methods suffer from the influence of image quality and the time cost of image reconstruction. In this paper, we propose a novel imaging-free target recognition method combining ghost imaging (GI) and generative adversarial networks (GAN). Based on the mechanism of GI, a set of random speckles sequence is employed to illuminate target, and a bucket detector without resolution is utilized to receive echo signal. The bucket signal sequence formed after continuous detections is constructed into a bucket signal array, which is regarded as the sample of GAN. Then, conditional GAN is used to map bucket signal array and target category. In practical application, the speckles sequence in training step is employed to illuminate target, and the bucket signal array is input GAN for recognition. The proposed method can improve the problems caused by conventional recognition methods that based on target image information, and provide a certain turbulence-free ability. Extensive experiments show that the proposed method achieves promising performance.

Zhuo Xu

Bidirectional Encoder Representations from Transformers (BERT) have shown to be a promising way to dramatically improve the performance across various Natural Language Processing tasks [Devlin et al., 2019]. Meanwhile, progress made over the past few years by various Neural Net-work has also proved the effectiveness of Neural Network in the field of Natural Language Processing. In this project, RoBERTa-wwm-ext [Cui et al., 2019] pre-train language model was adopted and fine-tuned for Chinese text classification. The models were able to classify Chinese texts into two categories, containing descriptions of legal behavior and descriptions of illegal behavior. Four different models are also proposed in the paper. Those models will use RoBERTa-wwm-extas their embedding layer and feed the embedding into different neural networks. The motivation be-hind proposing these models is straightforward. By introducing complex output layer architecture, the overall performance of the models could be improved. All the models were trained on a data set derived from Chinese public court records, and the performance of different models were compared.The experiment shows that the performance of pro-posed models failed to beat the original RoBERTa-wwm-ext model in terms of accuracy and training efficiency.

Zhuo Xu, Wenhao Yu, Alexander Herzog et al.

General contact-rich manipulation problems are long-standing challenges in robotics due to the difficulty of understanding complicated contact physics. Deep reinforcement learning (RL) has shown great potential in solving robot manipulation tasks. However, existing RL policies have limited adaptability to environments with diverse dynamics properties, which is pivotal in solving many contact-rich manipulation tasks. In this work, we propose Contact-aware Online COntext Inference (COCOI), a deep RL method that encodes a context embedding of dynamics properties online using contact-rich interactions. We study this method based on a novel and challenging non-planar pushing task, where the robot uses a monocular camera image and wrist force torque sensor reading to push an object to a goal location while keeping it upright. We run extensive experiments to demonstrate the capability of COCOI in a wide range of settings and dynamics properties in simulation, and also in a sim-to-real transfer scenario on a real robot (Video: https://youtu.be/nrmJYksh1Kc)

Daniel Ho, Kanishka Rao, Zhuo Xu et al.

The success of deep reinforcement learning (RL) and imitation learning (IL) in vision-based robotic manipulation typically hinges on the expense of large scale data collection. With simulation, data to train a policy can be collected efficiently at scale, but the visual gap between sim and real makes deployment in the real world difficult. We introduce RetinaGAN, a generative adversarial network (GAN) approach to adapt simulated images to realistic ones with object-detection consistency. RetinaGAN is trained in an unsupervised manner without task loss dependencies, and preserves general object structure and texture in adapted images. We evaluate our method on three real world tasks: grasping, pushing, and door opening. RetinaGAN improves upon the performance of prior sim-to-real methods for RL-based object instance grasping and continues to be effective even in the limited data regime. When applied to a pushing task in a similar visual domain, RetinaGAN demonstrates transfer with no additional real data requirements. We also show our method bridges the visual gap for a novel door opening task using imitation learning in a new visual domain. Visit the project website at https://retinagan.github.io/

Yue Wang, Zhuo Xu, Lu Bai et al.

Joint-event-extraction, which extracts structural information (i.e., entities or triggers of events) from unstructured real-world corpora, has attracted more and more research attention in natural language processing. Most existing works do not fully address the sparse co-occurrence relationships between entities and triggers, which loses this important information and thus deteriorates the extraction performance. To mitigate this issue, we first define the joint-event-extraction as a sequence-to-sequence labeling task with a tag set composed of tags of triggers and entities. Then, to incorporate the missing information in the aforementioned co-occurrence relationships, we propose a Cross-Supervised Mechanism (CSM) to alternately supervise the extraction of either triggers or entities based on the type distribution of each other. Moreover, since the connected entities and triggers naturally form a heterogeneous information network (HIN), we leverage the latent pattern along meta-paths for a given corpus to further improve the performance of our proposed method. To verify the effectiveness of our proposed method, we conduct extensive experiments on four real-world datasets as well as compare our method with state-of-the-art methods. Empirical results and analysis show that our approach outperforms the state-of-the-art methods in both entity and trigger extraction.

Haonan Chang, Zhuo Xu, Masayoshi Tomizuka

Reinforcement learning methods have been developed to achieve great success in training control policies in various automation tasks. However, a main challenge of the wider application of reinforcement learning in practical automation is that the training process is hard and the pretrained policy networks are hardly reusable in other similar cases. To address this problem, we propose the cascade attribute network (CAN), which utilizes its hierarchical structure to decompose a complicated control policy in terms of the requirement constraints, which we call attributes, encoded in the control tasks. We validated the effectiveness of our proposed method on two robot control scenarios with various add-on attributes. For some control tasks with more than one add-on attribute attribute, by directly assembling the attribute modules in cascade, the CAN can provide ideal control policies in a zero-shot manner.

Zhuo Xu, Jianyu Chen, Masayoshi Tomizuka

In this paper, we continue our prior work on using imitation learning (IL) and model free reinforcement learning (RL) to learn driving policies for autonomous driving in urban scenarios, by introducing a model based RL method to drive the autonomous vehicle in the Carla urban driving simulator. Although IL and model free RL methods have been proved to be capable of solving lots of challenging tasks, including playing video games, robots, and, in our prior work, urban driving, the low sample efficiency of such methods greatly limits their applications on actual autonomous driving. In this work, we developed a model based RL algorithm of guided policy search (GPS) for urban driving tasks. The algorithm iteratively learns a parameterized dynamic model to approximate the complex and interactive driving task, and optimizes the driving policy under the nonlinear approximate dynamic model. As a model based RL approach, when applied in urban autonomous driving, the GPS has the advantages of higher sample efficiency, better interpretability, and greater stability. We provide extensive experiments validating the effectiveness of the proposed method to learn robust driving policy for urban driving in Carla. We also compare the proposed method with other policy search and model free RL baselines, showing 100x better sample efficiency of the GPS based RL method, and also that the GPS based method can learn policies for harder tasks that the baseline methods can hardly learn.

Jianyu Chen, Zhuo Xu, Masayoshi Tomizuka

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and avoid huge efforts of human engineering, as well as obtain better performance with increasing data and computation resources. Compared to the decision system, the perception system is more suitable to be designed in an end-to-end framework, since it does not require online driving exploration. In this paper, we propose a novel end-to-end approach for autonomous driving perception. A latent space is introduced to capture all relevant features useful for perception, which is learned through sequential latent representation learning. The learned end-to-end perception model is able to solve the detection, tracking, localization and mapping problems altogether with only minimum human engineering efforts and without storing any maps online. The proposed method is evaluated in a realistic urban driving simulator, with both camera image and lidar point cloud as sensor inputs. The codes and videos of this work are available at our github repo and project website.

Zhuo Xu, Chen Tang, Masayoshi Tomizuka

Although deep reinforcement learning (deep RL) methods have lots of strengths that are favorable if applied to autonomous driving, real deep RL applications in autonomous driving have been slowed down by the modeling gap between the source (training) domain and the target (deployment) domain. Unlike current policy transfer approaches, which generally limit to the usage of uninterpretable neural network representations as the transferred features, we propose to transfer concrete kinematic quantities in autonomous driving. The proposed robust-control-based (RC) generic transfer architecture, which we call RL-RC, incorporates a transferable hierarchical RL trajectory planner and a robust tracking controller based on disturbance observer (DOB). The deep RL policies trained with known nominal dynamics model are transfered directly to the target domain, DOB-based robust tracking control is applied to tackle the modeling gap including the vehicle dynamics errors and the external disturbances such as side forces. We provide simulations validating the capability of the proposed method to achieve zero-shot transfer across multiple driving scenarios such as lane keeping, lane changing and obstacle avoidance.

Zhuo Xu, Haonan Chang, Masayoshi Tomizuka

We propose the cascade attribute learning network (CALNet), which can learn attributes in a control task separately and assemble them together. Our contribution is twofold: first we propose attribute learning in reinforcement learning (RL). Attributes used to be modeled using constraint functions or terms in the objective function, making it hard to transfer. Attribute learning, on the other hand, models these task properties as modules in the policy network. We also propose using novel cascading compensative networks in the CALNet to learn and assemble attributes. Using the CALNet, one can zero shoot an unseen task by separately learning all its attributes, and assembling the attribute modules. We have validated the capacity of our model on a wide variety of control problems with attributes in time, position, velocity and acceleration phases.

Bin Bai, Jianbin Liu, Yu Zhou et al.

We have designed a single-pixel camera with imaging around corners based on computational ghost imaging. It can obtain the image of an object when the camera cannot look at the object directly. Our imaging system explores the fact that a bucket detector in a ghost imaging setup has no spatial resolution capability. A series of experiments have been designed to confirm our predictions. This camera has potential applications for imaging around corner or other similar environments where the object cannot be observed directly.