Bin Wang

Yao Mu, Qinglong Zhang, Mengkang Hu et al.

Embodied AI is a crucial frontier in robotics, capable of planning and executing action sequences for robots to accomplish long-horizon tasks in physical environments. In this work, we introduce EmbodiedGPT, an end-to-end multi-modal foundation model for embodied AI, empowering embodied agents with multi-modal understanding and execution capabilities. To achieve this, we have made the following efforts: (i) We craft a large-scale embodied planning dataset, termed EgoCOT. The dataset consists of carefully selected videos from the Ego4D dataset, along with corresponding high-quality language instructions. Specifically, we generate a sequence of sub-goals with the "Chain of Thoughts" mode for effective embodied planning. (ii) We introduce an efficient training approach to EmbodiedGPT for high-quality plan generation, by adapting a 7B large language model (LLM) to the EgoCOT dataset via prefix tuning. (iii) We introduce a paradigm for extracting task-related features from LLM-generated planning queries to form a closed loop between high-level planning and low-level control. Extensive experiments show the effectiveness of EmbodiedGPT on embodied tasks, including embodied planning, embodied control, visual captioning, and visual question answering. Notably, EmbodiedGPT significantly enhances the success rate of the embodied control task by extracting more effective features. It has achieved a remarkable 1.6 times increase in success rate on the Franka Kitchen benchmark and a 1.3 times increase on the Meta-World benchmark, compared to the BLIP-2 baseline fine-tuned with the Ego4D dataset.

Bin Wang, Bing Xue, Mengjie Zhang

Deep convolutional neural networks have demonstrated promising performance on image classification tasks, but the manual design process becomes more and more complex due to the fast depth growth and the increasingly complex topologies of convolutional neural networks. As a result, neural architecture search has emerged to automatically design convolutional neural networks that outperform handcrafted counterparts. However, the computational cost is immense, e.g. 22,400 GPU-days and 2,000 GPU-days for two outstanding neural architecture search works named NAS and NASNet, respectively, which motivates this work. A new effective and efficient surrogate-assisted particle swarm optimisation algorithm is proposed to automatically evolve convolutional neural networks. This is achieved by proposing a novel surrogate model, a new method of creating a surrogate dataset and a new encoding strategy to encode variable-length blocks of convolutional neural networks, all of which are integrated into a particle swarm optimisation algorithm to form the proposed method. The proposed method shows its effectiveness by achieving competitive error rates of 3.49% on the CIFAR-10 dataset, 18.49% on the CIFAR-100 dataset, and 1.82% on the SVHN dataset. The convolutional neural network blocks are efficiently learned by the proposed method from CIFAR-10 within 3 GPU-days due to the acceleration achieved by the surrogate model and the surrogate dataset to avoid the training of 80.1% of convolutional neural network blocks represented by the particles. Without any further search, the evolved blocks from CIFAR-10 can be successfully transferred to CIFAR-100 and SVHN, which exhibits the transferability of the block learned by the proposed method.