Ya Jing

Taozheng Yang, Ya Jing, Hongtao Wu et al. · bytedance

In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from insufficient action accuracy and robustness against noise. On the other hand, classical control-based methods can enhance system robustness, but at the cost of extensive parameter tuning. To address these challenges, we present MOMA-Force, a visual-force imitation method that seamlessly combines representation learning for perception, imitation learning for complex motion generation, and admittance whole-body control for system robustness and controllability. MOMA-Force enables a mobile manipulator to learn multiple complex contact-rich tasks with high success rates and small contact forces. In a real household setting, our method outperforms baseline methods in terms of task success rates. Moreover, our method achieves smaller contact forces and smaller force variances compared to baseline methods without force imitation. Overall, we offer a promising approach for efficient and robust mobile manipulation in the real world. Videos and more details can be found on \url{https://visual-force-imitation.github.io}

Ya Jing, Xuelin Zhu, Xingbin Liu et al. · bytedance

Visual pre-training with large-scale real-world data has made great progress in recent years, showing great potential in robot learning with pixel observations. However, the recipes of visual pre-training for robot manipulation tasks are yet to be built. In this paper, we thoroughly investigate the effects of visual pre-training strategies on robot manipulation tasks from three fundamental perspectives: pre-training datasets, model architectures and training methods. Several significant experimental findings are provided that are beneficial for robot learning. Further, we propose a visual pre-training scheme for robot manipulation termed Vi-PRoM, which combines self-supervised learning and supervised learning. Concretely, the former employs contrastive learning to acquire underlying patterns from large-scale unlabeled data, while the latter aims learning visual semantics and temporal dynamics. Extensive experiments on robot manipulations in various simulation environments and the real robot demonstrate the superiority of the proposed scheme. Videos and more details can be found on \url{https://explore-pretrain-robot.github.io}.

Ya Jing, Tao Kong · bytedance

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will help various relevant applications (e.g., home robots). Unlike static perception methods trained on pre-collected images, the embodied agent can move around in the environment and obtain images of objects from any viewpoints. Therefore, efficiently learning the exploration policy and collection method to gather informative training samples is the key to this task. To do this, we first build a 3D semantic distribution map to train the exploration policy self-supervised by introducing the semantic distribution disagreement and the semantic distribution uncertainty rewards. Note that the map is generated from multi-view observations and can weaken the impact of misidentification from an unfamiliar viewpoint. Our agent is then encouraged to explore the objects with different semantic distributions across viewpoints, or uncertain semantic distributions. With the explored informative trajectories, we propose to select hard samples on trajectories based on the semantic distribution uncertainty to reduce unnecessary observations that can be correctly identified. Experiments show that the perception model fine-tuned with our method outperforms the baselines trained with other exploration policies. Further, we demonstrate the robustness of our method in real-robot experiments.

Duo Zheng, Tao Kong, Ya Jing et al. · bytedance

Reference Expression Generation (REG) and Comprehension (REC) are two highly correlated tasks. Modeling REG and REC simultaneously for utilizing the relation between them is a promising way to improve both. However, the problem of distinct inputs, as well as building connections between them in a single model, brings challenges to the design and training of the joint model. To address the problems, we propose a unified model for REG and REC, named UniRef. It unifies these two tasks with the carefully-designed Image-Region-Text Fusion layer (IRTF), which fuses the image, region and text via the image cross-attention and region cross-attention. Additionally, IRTF could generate pseudo input regions for the REC task to enable a uniform way for sharing the identical representation space across the REC and REG. We further propose Vision-conditioned Masked Language Modeling (VMLM) and Text-Conditioned Region Prediction (TRP) to pre-train UniRef model on multi-granular corpora. The VMLM and TRP are directly related to REG and REC, respectively, but could help each other. We conduct extensive experiments on three benchmark datasets, RefCOCO, RefCOCO+ and RefCOCOg. Experimental results show that our model outperforms previous state-of-the-art methods on both REG and REC.

Junkai Zhou, Liang Pang, Ya Jing et al.

Constructing personalized and anthropomorphic agents holds significant importance in the simulation of social networks. However, there are still two key problems in existing works: the agent possesses world knowledge that does not belong to its personas, and it cannot eliminate the interference of diverse persona information on current actions, which reduces the personalization and anthropomorphism of the agent. To solve the above problems, we construct the social media agent based on personalized knowledge and dynamic persona information. For personalized knowledge, we add external knowledge sources and match them with the persona information of agents, thereby giving the agent personalized world knowledge. For dynamic persona information, we use current action information to internally retrieve the persona information of the agent, thereby reducing the interference of diverse persona information on the current action. To make the agent suitable for social media, we design five basic modules for it: persona, planning, action, memory and reflection. To provide an interaction and verification environment for the agent, we build a social media simulation sandbox. In the experimental verification, automatic and human evaluations demonstrated the effectiveness of the agent we constructed.

Ya Jing, Tao Kong, Wei Wang et al.

Referring image segmentation aims to segment the objects referred by a natural language expression. Previous methods usually focus on designing an implicit and recurrent feature interaction mechanism to fuse the visual-linguistic features to directly generate the final segmentation mask without explicitly modeling the localization information of the referent instances. To tackle these problems, we view this task from another perspective by decoupling it into a "Locate-Then-Segment" (LTS) scheme. Given a language expression, people generally first perform attention to the corresponding target image regions, then generate a fine segmentation mask about the object based on its context. The LTS first extracts and fuses both visual and textual features to get a cross-modal representation, then applies a cross-model interaction on the visual-textual features to locate the referred object with position prior, and finally generates the segmentation result with a light-weight segmentation network. Our LTS is simple but surprisingly effective. On three popular benchmark datasets, the LTS outperforms all the previous state-of-the-art methods by a large margin (e.g., +3.2% on RefCOCO+ and +3.4% on RefCOCOg). In addition, our model is more interpretable with explicitly locating the object, which is also proved by visualization experiments. We believe this framework is promising to serve as a strong baseline for referring image segmentation.

Ya Jing, Chenyang Si, Junbo Wang et al.

Text-based person search aims to retrieve the corresponding person images in an image database by virtue of a describing sentence about the person, which poses great potential for various applications such as video surveillance. Extracting visual contents corresponding to the human description is the key to this cross-modal matching problem. Moreover, correlated images and descriptions involve different granularities of semantic relevance, which is usually ignored in previous methods. To exploit the multilevel corresponding visual contents, we propose a pose-guided multi-granularity attention network (PMA). Firstly, we propose a coarse alignment network (CA) to select the related image regions to the global description by a similarity-based attention. To further capture the phrase-related visual body part, a fine-grained alignment network (FA) is proposed, which employs pose information to learn latent semantic alignment between visual body part and textual noun phrase. To verify the effectiveness of our model, we perform extensive experiments on the CUHK Person Description Dataset (CUHK-PEDES) which is currently the only available dataset for text-based person search. Experimental results show that our approach outperforms the state-of-the-art methods by 15 \% in terms of the top-1 metric.

Chenyang Si, Ya Jing, Wei Wang et al.

Skeleton-based action recognition has made great progress recently, but many problems still remain unsolved. For example, most of the previous methods model the representations of skeleton sequences without abundant spatial structure information and detailed temporal dynamics features. In this paper, we propose a novel model with spatial reasoning and temporal stack learning (SR-TSL) for skeleton based action recognition, which consists of a spatial reasoning network (SRN) and a temporal stack learning network (TSLN). The SRN can capture the high-level spatial structural information within each frame by a residual graph neural network, while the TSLN can model the detailed temporal dynamics of skeleton sequences by a composition of multiple skip-clip LSTMs. During training, we propose a clip-based incremental loss to optimize the model. We perform extensive experiments on the SYSU 3D Human-Object Interaction dataset and NTU RGB+D dataset and verify the effectiveness of each network of our model. The comparison results illustrate that our approach achieves much better results than state-of-the-art methods.