Xiang Deng

Youxin Pang, Yong Zhang, Ruizhi Shao et al.

We propose UniMo, an innovative autoregressive model for joint modeling of 2D human videos and 3D human motions within a unified framework, enabling simultaneous generation and understanding of these two modalities for the first time. Current methods predominantly focus on generating one modality given another as the condition or integrating either of them with other modalities such as text and audio. Unifying 2D videos and 3D motions for simultaneous optimization and generation remains largely unexplored, presenting significant challenges due to their substantial structural and distributional differences. Inspired by the LLM's ability to unify different modalities, our method models videos and 3D motions as a unified tokens sequence, utilizing separate embedding layers to mitigate distribution gaps. Additionally, we devise a sequence modeling strategy that integrates two distinct tasks within a single framework, proving the effectiveness of unified modeling. Moreover, to efficiently align with visual tokens and preserve 3D spatial information, we design a novel 3D motion tokenizer with a temporal expansion strategy, using a single VQ-VAE to produce quantized motion tokens. It features multiple expert decoders that handle body shapes, translation, global orientation, and body poses for reliable 3D motion reconstruction. Extensive experiments demonstrate that our method simultaneously generates corresponding videos and motions while performing accurate motion capture. This work taps into the capacity of LLMs to fuse diverse data types, paving the way for integrating human-centric information into existing models and potentially enabling multimodal, controllable joint modeling of humans, objects, and scenes.

Hengshuo Chu, Xiang Deng, Qi Lv et al.

3D Affordance detection is a challenging problem with broad applications on various robotic tasks. Existing methods typically formulate the detection paradigm as a label-based semantic segmentation task. This paradigm relies on predefined labels and lacks the ability to comprehend complex natural language, resulting in limited generalization in open-world scene. To address these limitations, we reformulate the traditional affordance detection paradigm into \textit{Instruction Reasoning Affordance Segmentation} (IRAS) task. This task is designed to output a affordance mask region given a query reasoning text, which avoids fixed categories of input labels. We accordingly propose the \textit{3D-AffordanceLLM} (3D-ADLLM), a framework designed for reasoning affordance detection in 3D open-scene. Specifically, 3D-ADLLM introduces large language models (LLMs) to 3D affordance perception with a custom-designed decoder for generating affordance masks, thus achieving open-world reasoning affordance detection. In addition, given the scarcity of 3D affordance datasets for training large models, we seek to extract knowledge from general segmentation data and transfer it to affordance detection. Thus, we propose a multi-stage training strategy that begins with a novel pre-training task, i.e., \textit{Referring Object Part Segmentation}~(ROPS). This stage is designed to equip the model with general recognition and segmentation capabilities at the object-part level. Then followed by fine-tuning with the IRAS task, 3D-ADLLM obtains the reasoning ability for affordance detection. In summary, 3D-ADLLM leverages the rich world knowledge and human-object interaction reasoning ability of LLMs, achieving approximately an 8\% improvement in mIoU on open-vocabulary affordance detection tasks.

Hao Li, Qi Lv, Rui Shao et al.

Transforming complex actions into discrete skill abstractions has demonstrated strong potential for robotic manipulation. Existing approaches mainly leverage latent variable models, e.g., VQ-VAE, to learn skill abstractions through learned vectors (codebooks), while they suffer from codebook collapse and modeling the causal relationship between learned skills. To address these limitations, we present \textbf{S}kill \textbf{T}raining with \textbf{A}ugmented \textbf{R}otation (\textbf{STAR}), a framework that advances both skill learning and composition to complete complex behaviors. Specifically, to prevent codebook collapse, we devise rotation-augmented residual skill quantization (RaRSQ). It encodes relative angles between encoder outputs into the gradient flow by rotation-based gradient mechanism. Points within the same skill code are forced to be either pushed apart or pulled closer together depending on gradient directions. Further, to capture the causal relationship between skills, we present causal skill transformer (CST) which explicitly models dependencies between skill representations through an autoregressive mechanism for coherent action generation. Extensive experiments demonstrate the superiority of STAR on both LIBERO benchmark and realworld tasks, with around 12\% improvement over the baselines.

Xiang Deng, Yu Su, Alyssa Lees et al.

We present ReasonBert, a pre-training method that augments language models with the ability to reason over long-range relations and multiple, possibly hybrid contexts. Unlike existing pre-training methods that only harvest learning signals from local contexts of naturally occurring texts, we propose a generalized notion of distant supervision to automatically connect multiple pieces of text and tables to create pre-training examples that require long-range reasoning. Different types of reasoning are simulated, including intersecting multiple pieces of evidence, bridging from one piece of evidence to another, and detecting unanswerable cases. We conduct a comprehensive evaluation on a variety of extractive question answering datasets ranging from single-hop to multi-hop and from text-only to table-only to hybrid that require various reasoning capabilities and show that ReasonBert achieves remarkable improvement over an array of strong baselines. Few-shot experiments further demonstrate that our pre-training method substantially improves sample efficiency.

Xiang Deng, Huan Sun, Alyssa Lees et al.

Relational tables on the Web store a vast amount of knowledge. Owing to the wealth of such tables, there has been tremendous progress on a variety of tasks in the area of table understanding. However, existing work generally relies on heavily-engineered task-specific features and model architectures. In this paper, we present TURL, a novel framework that introduces the pre-training/fine-tuning paradigm to relational Web tables. During pre-training, our framework learns deep contextualized representations on relational tables in an unsupervised manner. Its universal model design with pre-trained representations can be applied to a wide range of tasks with minimal task-specific fine-tuning. Specifically, we propose a structure-aware Transformer encoder to model the row-column structure of relational tables, and present a new Masked Entity Recovery (MER) objective for pre-training to capture the semantics and knowledge in large-scale unlabeled data. We systematically evaluate TURL with a benchmark consisting of 6 different tasks for table understanding (e.g., relation extraction, cell filling). We show that TURL generalizes well to all tasks and substantially outperforms existing methods in almost all instances.

Bortik Bandyopadhyay, Xiang Deng, Goonmeet Bajaj et al.

Table is a popular data format to organize and present relational information. Users often have to manually compose tables when gathering their desiderate information (e.g., entities and their attributes) for decision making. In this work, we propose to resolve a new type of heterogeneous query viz: tabular query, which contains a natural language query description, column names of the desired table, and an example row. We aim to acquire more entity tuples (rows) and automatically fill the table specified by the tabular query. We design a novel framework AutoTableComplete which aims to integrate schema specific structural information with the natural language contextual information provided by the user, to complete tables automatically, using a heterogeneous knowledge base (KB) as the main information source. Given a tabular query as input, our framework first constructs a set of candidate chains that connect the given example entities in KB. We learn to select the best matching chain from these candidates using the semantic context from tabular query. The selected chain is then converted into a SPARQL query, executed against KB to gather a set of candidate rows, that are then ranked in order of their relevance to the tabular query, to complete the desired table. We construct a new dataset based on tables in Wikipedia pages and Freebase, using which we perform a wide range of experiments to demonstrate the effectiveness of AutoTableComplete as well as present a detailed error analysis of our method.

Xiang Deng, Huan Sun

Distant supervision (DS) has been widely used to automatically construct (noisy) labeled data for relation extraction (RE). Given two entities, distant supervision exploits sentences that directly mention them for predicting their semantic relation. We refer to this strategy as 1-hop DS, which unfortunately may not work well for long-tail entities with few supporting sentences. In this paper, we introduce a new strategy named 2-hop DS to enhance distantly supervised RE, based on the observation that there exist a large number of relational tables on the Web which contain entity pairs that share common relations. We refer to such entity pairs as anchors for each other, and collect all sentences that mention the anchor entity pairs of a given target entity pair to help relation prediction. We develop a new neural RE method REDS2 in the multi-instance learning paradigm, which adopts a hierarchical model structure to fuse information respectively from 1-hop DS and 2-hop DS. Extensive experimental results on a benchmark dataset show that REDS2 can consistently outperform various baselines across different settings by a substantial margin.