Yunhao Luo

Yunhao Luo, Chen Sun, Joshua B. Tenenbaum et al. · mit

Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion planning is composability -- different motion constraints can be easily combined by adding corresponding potentials. However, constructing motion paths from potentials requires solving a global optimization across configuration space potential landscape, which is often prone to local minima. We propose a new approach towards learning potential based motion planning, where we train a neural network to capture and learn an easily optimizable potentials over motion planning trajectories. We illustrate the effectiveness of such approach, significantly outperforming both classical and recent learned motion planning approaches and avoiding issues with local minima. We further illustrate its inherent composability, enabling us to generalize to a multitude of different motion constraints.

Yunfan Lu, Yiqi Lin, Hao Wu et al.

Image restoration and enhancement is a process of improving the image quality by removing degradations, such as noise, blur, and resolution degradation. Deep learning (DL) has recently been applied to image restoration and enhancement. Due to its ill-posed property, plenty of works have been explored priors to facilitate training deep neural networks (DNNs). However, the importance of priors has not been systematically studied and analyzed by far in the research community. Therefore, this paper serves as the first study that provides a comprehensive overview of recent advancements in priors for deep image restoration and enhancement. Our work covers five primary contents: (1) A theoretical analysis of priors for deep image restoration and enhancement; (2) A hierarchical and structural taxonomy of priors commonly used in the DL-based methods; (3) An insightful discussion on each prior regarding its principle, potential, and applications; (4) A summary of crucial problems by highlighting the potential future directions, especially adopting the large-scale foundation models as prior, to spark more research in the community; (5) An open-source repository that provides a taxonomy of all mentioned works and code links.

Qingqiao Hu, Hao Wang, Jing Luo et al.

Automated medical image segmentation inherently involves a certain degree of uncertainty. One key factor contributing to this uncertainty is the ambiguity that can arise in determining the boundaries of a target region of interest, primarily due to variations in image appearance. On top of this, even among experts in the field, different opinions can emerge regarding the precise definition of specific anatomical structures. This work specifically addresses the modeling of segmentation uncertainty, known as inter-rater uncertainty. Its primary objective is to explore and analyze the variability in segmentation outcomes that can occur when multiple experts in medical imaging interpret and annotate the same images. We introduce a novel Bayesian neural network-based architecture to estimate inter-rater uncertainty in medical image segmentation. Our approach has three key advancements. Firstly, we introduce a one-encoder-multi-decoder architecture specifically tailored for uncertainty estimation, enabling us to capture the rater-specific representation of each expert involved. Secondly, we propose Bayesian modeling for the new architecture, allowing efficient capture of the inter-rater distribution, particularly in scenarios with limited annotations. Lastly, we enhance the rater-specific representation by integrating an attention module into each decoder. This module facilitates focused and refined segmentation results for each rater. We conduct extensive evaluations using synthetic and real-world datasets to validate our technical innovations rigorously. Our method surpasses existing baseline methods in five out of seven diverse tasks on the publicly available \emph{QUBIQ} dataset, considering two evaluation metrics encompassing different uncertainty aspects. Our codes, models, and the new dataset are available through our GitHub repository: https://github.com/HaoWang420/bOEMD-net .

Jinjing Zhu, Yunhao Luo, Xu Zheng et al.

In this paper, we strive to answer the question "how to collaboratively learn convolutional neural network (CNN)-based and vision transformer (ViT)-based models by selecting and exchanging the reliable knowledge between them for semantic segmentation?" Accordingly, we propose an online knowledge distillation (KD) framework that can simultaneously learn compact yet effective CNN-based and ViT-based models with two key technical breakthroughs to take full advantage of CNNs and ViT while compensating their limitations. Firstly, we propose heterogeneous feature distillation (HFD) to improve students' consistency in low-layer feature space by mimicking heterogeneous features between CNNs and ViT. Secondly, to facilitate the two students to learn reliable knowledge from each other, we propose bidirectional selective distillation (BSD) that can dynamically transfer selective knowledge. This is achieved by 1) region-wise BSD determining the directions of knowledge transferred between the corresponding regions in the feature space and 2) pixel-wise BSD discerning which of the prediction knowledge to be transferred in the logit space. Extensive experiments on three benchmark datasets demonstrate that our proposed framework outperforms the state-of-the-art online distillation methods by a large margin, and shows its efficacy in learning collaboratively between ViT-based and CNN-based models.

Xu Zheng, Tianbo Pan, Yunhao Luo et al.

Endeavors have been recently made to transfer knowledge from the labeled pinhole image domain to the unlabeled panoramic image domain via Unsupervised Domain Adaptation (UDA). The aim is to tackle the domain gaps caused by the style disparities and distortion problem from the non-uniformly distributed pixels of equirectangular projection (ERP). Previous works typically focus on transferring knowledge based on geometric priors with specially designed multi-branch network architectures. As a result, considerable computational costs are induced, and meanwhile, their generalization abilities are profoundly hindered by the variation of distortion among pixels. In this paper, we find that the pixels' neighborhood regions of the ERP indeed introduce less distortion. Intuitively, we propose a novel UDA framework that can effectively address the distortion problems for panoramic semantic segmentation. In comparison, our method is simpler, easier to implement, and more computationally efficient. Specifically, we propose distortion-aware attention (DA) capturing the neighboring pixel distribution without using any geometric constraints. Moreover, we propose a class-wise feature aggregation (CFA) module to iteratively update the feature representations with a memory bank. As such, the feature similarity between two domains can be consistently optimized. Extensive experiments show that our method achieves new state-of-the-art performance while remarkably reducing 80% parameters.

Xu Zheng, Yunhao Luo, Chong Fu et al.

The popular methods for semi-supervised semantic segmentation mostly adopt a unitary network model using convolutional neural networks (CNNs) and enforce consistency of the model's predictions over perturbations applied to the inputs or model. However, such a learning paradigm suffers from two critical limitations: a) learning the discriminative features for the unlabeled data; b) learning both global and local information from the whole image. In this paper, we propose a novel Semi-supervised Learning (SSL) approach, called Transformer-CNN Cohort (TCC), that consists of two students with one based on the vision transformer (ViT) and the other based on the CNN. Our method subtly incorporates the multi-level consistency regularization on the predictions and the heterogeneous feature spaces via pseudo-labeling for the unlabeled data. First, as the inputs of the ViT student are image patches, the feature maps extracted encode crucial class-wise statistics. To this end, we propose class-aware feature consistency distillation (CFCD) that first leverages the outputs of each student as the pseudo labels and generates class-aware feature (CF) maps for knowledge transfer between the two students. Second, as the ViT student has more uniform representations for all layers, we propose consistency-aware cross distillation (CCD) to transfer knowledge between the pixel-wise predictions from the cohort. We validate the TCC framework on Cityscapes and Pascal VOC 2012 datasets, which outperforms existing SSL methods by a large margin.

Xu Zheng, Yunhao Luo, Pengyuan Zhou et al.

In this paper, we tackle a new problem: how to transfer knowledge from the pre-trained cumbersome yet well-performed CNN-based model to learn a compact Vision Transformer (ViT)-based model while maintaining its learning capacity? Due to the completely different characteristics of ViT and CNN and the long-existing capacity gap between teacher and student models in Knowledge Distillation (KD), directly transferring the cross-model knowledge is non-trivial. To this end, we subtly leverage the visual and linguistic-compatible feature character of ViT (i.e., student), and its capacity gap with the CNN (i.e., teacher) and propose a novel CNN-to-ViT KD framework, dubbed C2VKD. Importantly, as the teacher's features are heterogeneous to those of the student, we first propose a novel visual-linguistic feature distillation (VLFD) module that explores efficient KD among the aligned visual and linguistic-compatible representations. Moreover, due to the large capacity gap between the teacher and student and the inevitable prediction errors of the teacher, we then propose a pixel-wise decoupled distillation (PDD) module to supervise the student under the combination of labels and teacher's predictions from the decoupled target and non-target classes. Experiments on three semantic segmentation benchmark datasets consistently show that the increment of mIoU of our method is over 200% of the SoTA KD methods

Daoan Zhang, Yunhao Luo, Jianguo Zhang

We bring a new perspective to semi-supervised semantic segmentation by providing an analysis on the labeled and unlabeled distributions in training datasets. We first figure out that the distribution gap between labeled and unlabeled datasets cannot be ignored, even though the two datasets are sampled from the same distribution. To address this issue, we theoretically analyze and experimentally prove that appropriately boosting uncertainty on unlabeled data can help minimize the distribution gap, which benefits the generalization of the model. We propose two strategies and design an uncertainty booster algorithm, specially for semi-supervised semantic segmentation. Extensive experiments are carried out based on these theories, and the results confirm the efficacy of the algorithm and strategies. Our plug-and-play uncertainty booster is tiny, efficient, and robust to hyperparameters but can significantly promote performance. Our approach achieves state-of-the-art performance in our experiments compared to the current semi-supervised semantic segmentation methods on the popular benchmarks: Cityscapes and PASCAL VOC 2012 with different train settings.

Kyowoon Lee, Yunhao Luo, Anh Tong et al.

Compositional diffusion planning generates long-horizon trajectories by stitching together overlapping short-horizon segments through score composition. However, when local plan distributions are multimodal, existing compositional methods suffer from mode-averaging, where averaging incompatible local modes leads to plans that are neither locally feasible nor globally coherent. We propose Refining Compositional Diffusion (RCD), a training-free guidance method that steers compositional sampling toward high-density, globally coherent plans. RCD leverages the self-reconstruction error of a pretrained diffusion model as a proxy for the log-density of composed plans, combined with an overlap consistency term that enforces consistency at segment boundaries. We show that the combined guidance concentrates sampling on high-density plans that mitigate mode-averaging. Experiments on challenging long-horizon tasks from OGBench, including locomotion, object manipulation, and pixel-based observations, demonstrate that RCD consistently outperforms existing methods.

Yunhao Luo, Utkarsh A. Mishra, Yilun Du et al.

Effective trajectory stitching for long-horizon planning is a significant challenge in robotic decision-making. While diffusion models have shown promise in planning, they are limited to solving tasks similar to those seen in their training data. We propose CompDiffuser, a novel generative approach that can solve new tasks by learning to compositionally stitch together shorter trajectory chunks from previously seen tasks. Our key insight is modeling the trajectory distribution by subdividing it into overlapping chunks and learning their conditional relationships through a single bidirectional diffusion model. This allows information to propagate between segments during generation, ensuring physically consistent connections. We conduct experiments on benchmark tasks of various difficulties, covering different environment sizes, agent state dimension, trajectory types, training data quality, and show that CompDiffuser significantly outperforms existing methods.

Yunhao Luo, Yilun Du

Large video models, pretrained on massive amounts of Internet video, provide a rich source of physical knowledge about the dynamics and motions of objects and tasks. However, video models are not grounded in the embodiment of an agent, and do not describe how to actuate the world to reach the visual states depicted in a video. To tackle this problem, current methods use a separate vision-based inverse dynamic model trained on embodiment-specific data to map image states to actions. Gathering data to train such a model is often expensive and challenging, and this model is limited to visual settings similar to the ones in which data are available. In this paper, we investigate how to directly ground video models to continuous actions through self-exploration in the embodied environment -- using generated video states as visual goals for exploration. We propose a framework that uses trajectory level action generation in combination with video guidance to enable an agent to solve complex tasks without any external supervision, e.g., rewards, action labels, or segmentation masks. We validate the proposed approach on 8 tasks in Libero, 6 tasks in MetaWorld, 4 tasks in Calvin, and 12 tasks in iThor Visual Navigation. We show how our approach is on par with or even surpasses multiple behavior cloning baselines trained on expert demonstrations while without requiring any action annotations.

Zichen Chen, Yunhao Luo, Misha Sra

As reliance on AI systems for decision-making grows, it becomes critical to ensure that human users can appropriately balance trust in AI suggestions with their own judgment, especially in high-stakes domains like healthcare. However, human + AI teams have been shown to perform worse than AI alone, with evidence indicating automation bias as the reason for poorer performance, particularly because humans tend to follow AI's recommendations even when they are incorrect. In many existing human + AI systems, decision-making support is typically provided in the form of text explanations (XAI) to help users understand the AI's reasoning. Since human decision-making often relies on System 1 thinking, users may ignore or insufficiently engage with the explanations, leading to poor decision-making. Previous research suggests that there is a need for new approaches that encourage users to engage with the explanations and one proposed method is the use of cognitive forcing functions (CFFs). In this work, we examine how various decision-support mechanisms impact user engagement, trust, and human-AI collaborative task performance in a diabetes management decision-making scenario. In a controlled experiment with 108 participants, we evaluated the effects of six decision-support mechanisms split into two categories of explanations (text, visual) and four CFFs. Our findings reveal that mechanisms like AI confidence levels, text explanations, and performance visualizations enhanced human-AI collaborative task performance, and improved trust when AI reasoning clues were provided. Mechanisms like human feedback and AI-driven questions encouraged deeper reflection but often reduced task performance by increasing cognitive effort, which in turn affected trust. Simple mechanisms like visual explanations had little effect on trust, highlighting the importance of striking a balance in CFF and XAI design.

Xing Lei, Zifeng Zhuang, Shentao Yang et al.

Recently, supervised learning (SL) methodology has emerged as an effective approach for offline reinforcement learning (RL) due to their simplicity, stability, and efficiency. However, recent studies show that SL methods lack the trajectory stitching capability, typically associated with temporal difference (TD)-based approaches. A question naturally surfaces: \textit{How can we endow SL methods with stitching capability and close its performance gap with TD learning?} To answer this question, we introduce $Q$-conditioned maximization supervised learning for offline goal-conditioned RL, which enhances SL with the stitching capability through $Q$-conditioned policy and $Q$-conditioned maximization. Concretely, we propose \textbf{G}oal-\textbf{C}onditioned \textbf{\textit{Rein}}forced \textbf{S}upervised \textbf{L}earning (\textbf{GC\textit{Rein}SL}), which consists of (1) estimating the $Q$-function by Normalizing Flows from the offline dataset and (2) finding the maximum $Q$-value within the data support by integrating $Q$-function maximization with Expectile Regression. In inference time, our policy chooses optimal actions based on such a maximum $Q$-value. Experimental results from stitching evaluations on offline RL datasets demonstrate that our method outperforms prior SL approaches with stitching capabilities and goal data augmentation techniques.