Dong Wang

Yunpeng Gao, Chenhui Li, Zhongrui You et al.

Vision-Language Navigation (VLN) aims to guide agents by leveraging language instructions and visual cues, playing a pivotal role in embodied AI. Indoor VLN has been extensively studied, whereas outdoor aerial VLN remains underexplored. The potential reason is that outdoor aerial view encompasses vast areas, making data collection more challenging, which results in a lack of benchmarks. To address this problem, we propose OpenFly, a platform comprising various rendering engines, a versatile toolchain, and a large-scale benchmark for aerial VLN. Firstly, we integrate diverse rendering engines and advanced techniques for environment simulation, including Unreal Engine, GTA V, Google Earth, and 3D Gaussian Splatting (3D GS). Particularly, 3D GS supports real-to-sim rendering, further enhancing the realism of our environments. Secondly, we develop a highly automated toolchain for aerial VLN data collection, streamlining point cloud acquisition, scene semantic segmentation, flight trajectory creation, and instruction generation. Thirdly, based on the toolchain, we construct a large-scale aerial VLN dataset with 100k trajectories, covering diverse heights and lengths across 18 scenes. Moreover, we propose OpenFly-Agent, a keyframe-aware VLN model emphasizing key observations during flight. For benchmarking, extensive experiments and analyses are conducted, evaluating several recent VLN methods and showcasing the superiority of our OpenFly platform and agent. The toolchain, dataset, and codes will be open-sourced.

Jia Zeng, Qingwen Bu, Bangjun Wang et al.

Representation learning approaches for robotic manipulation have boomed in recent years. Due to the scarcity of in-domain robot data, prevailing methodologies tend to leverage large-scale human video datasets to extract generalizable features for visuomotor policy learning. Despite the progress achieved, prior endeavors disregard the interactive dynamics that capture behavior patterns and physical interaction during the manipulation process, resulting in an inadequate understanding of the relationship between objects and the environment. To this end, we propose a general pre-training pipeline that learns Manipulation by Predicting the Interaction (MPI) and enhances the visual representation.Given a pair of keyframes representing the initial and final states, along with language instructions, our algorithm predicts the transition frame and detects the interaction object, respectively. These two learning objectives achieve superior comprehension towards "how-to-interact" and "where-to-interact". We conduct a comprehensive evaluation of several challenging robotic tasks.The experimental results demonstrate that MPI exhibits remarkable improvement by 10% to 64% compared with previous state-of-the-art in real-world robot platforms as well as simulation environments. Code and checkpoints are publicly shared at https://github.com/OpenDriveLab/MPI.

Jiahong Zhou, Shunhui Mao, Guoliang Yang et al.

Recommender systems aim to recommend the most suitable items to users from a large number of candidates. Their computation cost grows as the number of user requests and the complexity of services (or models) increases. Under the limitation of computation resources (CRs), how to make a trade-off between computation cost and business revenue becomes an essential question. The existing studies focus on dynamically allocating CRs in queue truncation scenarios (i.e., allocating the size of candidates), and formulate the CR allocation problem as an optimization problem with constraints. Some of them focus on single-phase CR allocation, and others focus on multi-phase CR allocation but introduce some assumptions about queue truncation scenarios. However, these assumptions do not hold in other scenarios, such as retrieval channel selection and prediction model selection. Moreover, existing studies ignore the state transition process of requests between different phases, limiting the effectiveness of their approaches. This paper proposes a Reinforcement Learning (RL) based Multi-Phase Computation Allocation approach (RL-MPCA), which aims to maximize the total business revenue under the limitation of CRs. RL-MPCA formulates the CR allocation problem as a Weakly Coupled MDP problem and solves it with an RL-based approach. Specifically, RL-MPCA designs a novel deep Q-network to adapt to various CR allocation scenarios, and calibrates the Q-value by introducing multiple adaptive Lagrange multipliers (adaptive-$λ$) to avoid violating the global CR constraints. Finally, experiments on the offline simulation environment and online real-world recommender system validate the effectiveness of our approach.

Hao Wang, Bo Tang, Chi Harold Liu et al.

Online display advertising platforms service numerous advertisers by providing real-time bidding (RTB) for the scale of billions of ad requests every day. The bidding strategy handles ad requests cross multiple channels to maximize the number of clicks under the set financial constraints, i.e., total budget and cost-per-click (CPC), etc. Different from existing works mainly focusing on single channel bidding, we explicitly consider cross-channel constrained bidding with budget allocation. Specifically, we propose a hierarchical offline deep reinforcement learning (DRL) framework called ``HiBid'', consisted of a high-level planner equipped with auxiliary loss for non-competitive budget allocation, and a data augmentation enhanced low-level executor for adaptive bidding strategy in response to allocated budgets. Additionally, a CPC-guided action selection mechanism is introduced to satisfy the cross-channel CPC constraint. Through extensive experiments on both the large-scale log data and online A/B testing, we confirm that HiBid outperforms six baselines in terms of the number of clicks, CPC satisfactory ratio, and return-on-investment (ROI). We also deploy HiBid on Meituan advertising platform to already service tens of thousands of advertisers every day.