Ye Tian

Sijie Cheng, Kechen Fang, Yangyang Yu et al. · tsinghua

Recent advancements in Multi-modal Large Language Models (MLLMs) have opened new avenues for applications in Embodied AI. Building on previous work, EgoThink, we introduce VidEgoThink, a comprehensive benchmark for evaluating egocentric video understanding capabilities. To bridge the gap between MLLMs and low-level control in Embodied AI, we design four key interrelated tasks: video question-answering, hierarchy planning, visual grounding and reward modeling. To minimize manual annotation costs, we develop an automatic data generation pipeline based on the Ego4D dataset, leveraging the prior knowledge and multimodal capabilities of GPT-4o. Three human annotators then filter the generated data to ensure diversity and quality, resulting in the VidEgoThink benchmark. We conduct extensive experiments with three types of models: API-based MLLMs, open-source image-based MLLMs, and open-source video-based MLLMs. Experimental results indicate that all MLLMs, including GPT-4o, perform poorly across all tasks related to egocentric video understanding. These findings suggest that foundation models still require significant advancements to be effectively applied to first-person scenarios in Embodied AI. In conclusion, VidEgoThink reflects a research trend towards employing MLLMs for egocentric vision, akin to human capabilities, enabling active observation and interaction in the complex real-world environments.

Zhonghan Zhao, Kewei Chen, Dongxu Guo et al.

Due to the dynamic and unpredictable open-world setting, navigating complex environments in Minecraft poses significant challenges for multi-agent systems. Agents must interact with the environment and coordinate their actions with other agents to achieve common objectives. However, traditional approaches often struggle to efficiently manage inter-agent communication and task distribution, crucial for effective multi-agent navigation. Furthermore, processing and integrating multi-modal information (such as visual, textual, and auditory data) is essential for agents to comprehend their goals and navigate the environment successfully and fully. To address this issue, we design the HAS framework to auto-organize groups of LLM-based agents to complete navigation tasks. In our approach, we devise a hierarchical auto-organizing navigation system, which is characterized by 1) a hierarchical system for multi-agent organization, ensuring centralized planning and decentralized execution; 2) an auto-organizing and intra-communication mechanism, enabling dynamic group adjustment under subtasks; 3) a multi-modal information platform, facilitating multi-modal perception to perform the three navigation tasks with one system. To assess organizational behavior, we design a series of navigation tasks in the Minecraft environment, which includes searching and exploring. We aim to develop embodied organizations that push the boundaries of embodied AI, moving it towards a more human-like organizational structure.

Lifeng Jin, Baolin Peng, Linfeng Song et al.

The most common training pipeline for large language models includes pretraining, finetuning and aligning phases, with their respective resulting models, such as the pretrained model and the finetuned model. Finetuned and aligned models show improved abilities of instruction following and safe generation, however their abilities to stay factual about the world are impacted by the finetuning process. Furthermore, the common practice of using sampling during generation also increases chances of hallucination. In this work, we introduce a collaborative decoding framework to harness the high factuality within pretrained models through the concept of critical tokens. We first design a critical token classifier to decide which model to use for the next token, and subsequently generates the next token using different decoding strategies. Experiments with different models and datasets show that our decoding framework is able to reduce model hallucination significantly, showcasing the importance of the collaborative decoding framework.

Jacob Fein-Ashley, Tian Ye, Rajgopal Kannan et al.

Synthetic Aperture Radar SAR Automatic Target Recognition ATR is a key technique of remote-sensing image recognition which can be supported by deep neural networks The existing works of SAR ATR mostly focus on improving the accuracy of the target recognition while ignoring the systems performance in terms of speed and storage which is critical to real-world applications of SAR ATR For decision-makers aiming to identify a proper deep learning model to deploy in a SAR ATR system it is important to understand the performance of different candidate deep learning models and determine the best model accordingly This paper comprehensively benchmarks several advanced deep learning models for SAR ATR with multiple distinct SAR imagery datasets Specifically we train and test five SAR image classifiers based on Residual Neural Networks ResNet18 ResNet34 ResNet50 Graph Neural Network GNN and Vision Transformer for Small-Sized Datasets (SS-ViT) We select three datasets MSTAR GBSAR and SynthWakeSAR that offer heterogeneity We evaluate and compare the five classifiers concerning their classification accuracy runtime performance in terms of inference throughput and analytical performance in terms of number of parameters number of layers model size and number of operations Experimental results show that the GNN classifier outperforms with respect to throughput and latency However it is also shown that no clear model winner emerges from all of our chosen metrics and a one model rules all case is doubtful in the domain of SAR ATR