Xiangyu Wu

Dingqi Zhang, Antonio Loquercio, Xiangyu Wu et al. · berkeley

This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also shows rapid adaptation to unknown disturbances during runtime. The core algorithmic idea is to learn a single policy that can adapt online at test time not only to the disturbances applied to the drone, but also to the robot dynamics and hardware in the same framework. We achieve this by training a neural network to estimate a latent representation of the robot and environment parameters, which is used to condition the behaviour of the controller, also represented as a neural network. We train both networks exclusively in simulation with the goal of flying the quadcopters to goal positions and avoiding crashes to the ground. We directly deploy the same controller trained in the simulation without any modifications on two quadcopters in the real world with differences in mass, size, motors, and propellers with mass differing by 4.5 times. In addition, we show rapid adaptation to sudden and large disturbances up to one-third of the mass of the quadcopters. We perform an extensive evaluation in both simulation and the physical world, where we outperform a state-of-the-art learning-based adaptive controller and a traditional PID controller specifically tuned to each platform individually. Video results can be found at https://youtu.be/U-c-LbTfvoA.

Jiaxin Deng, Dong Shen, Shiyao Wang et al.

In recent years, live streaming platforms have gained immense popularity as they allow users to broadcast their videos and interact in real-time with hosts and peers. Due to the dynamic changes of live content, accurate recommendation models are crucial for enhancing user experience. However, most previous works treat the live as a whole item and explore the Click-through-Rate (CTR) prediction framework on item-level, neglecting that the dynamic changes that occur even within the same live room. In this paper, we proposed a ContentCTR model that leverages multimodal transformer for frame-level CTR prediction. First, we present an end-to-end framework that can make full use of multimodal information, including visual frames, audio, and comments, to identify the most attractive live frames. Second, to prevent the model from collapsing into a mediocre solution, a novel pairwise loss function with first-order difference constraints is proposed to utilize the contrastive information existing in the highlight and non-highlight frames. Additionally, we design a temporal text-video alignment module based on Dynamic Time Warping to eliminate noise caused by the ambiguity and non-sequential alignment of visual and textual information. We conduct extensive experiments on both real-world scenarios and public datasets, and our ContentCTR model outperforms traditional recommendation models in capturing real-time content changes. Moreover, we deploy the proposed method on our company platform, and the results of online A/B testing further validate its practical significance.

Jiaxin Deng, Dong Shen, Haojie Pan et al.

Video understanding is an important task in short video business platforms and it has a wide application in video recommendation and classification. Most of the existing video understanding works only focus on the information that appeared within the video content, including the video frames, audio and text. However, introducing common sense knowledge from the external Knowledge Graph (KG) dataset is essential for video understanding when referring to the content which is less relevant to the video. Owing to the lack of video knowledge graph dataset, the work which integrates video understanding and KG is rare. In this paper, we propose a heterogeneous dataset that contains the multi-modal video entity and fruitful common sense relations. This dataset also provides multiple novel video inference tasks like the Video-Relation-Tag (VRT) and Video-Relation-Video (VRV) tasks. Furthermore, based on this dataset, we propose an end-to-end model that jointly optimizes the video understanding objective with knowledge graph embedding, which can not only better inject factual knowledge into video understanding but also generate effective multi-modal entity embedding for KG. Comprehensive experiments indicate that combining video understanding embedding with factual knowledge benefits the content-based video retrieval performance. Moreover, it also helps the model generate better knowledge graph embedding which outperforms traditional KGE-based methods on VRT and VRV tasks with at least 42.36% and 17.73% improvement in HITS@10.

Xing Cheng, Xiangyu Wu, Dong Shen et al.

Video grounding aims to locate the timestamps best matching the query description within an untrimmed video. Prevalent methods can be divided into moment-level and clip-level frameworks. Moment-level approaches directly predict the probability of each transient moment to be the boundary in a global perspective, and they usually perform better in coarse grounding. On the other hand, clip-level ones aggregate the moments in different time windows into proposals and then deduce the most similar one, leading to its advantage in fine-grained grounding. In this paper, we propose a multi-level unified framework to enhance performance by leveraging the merits of both moment-level and clip-level methods. Moreover, a novel generation-guided paradigm in both levels is adopted. It introduces a multi-modal generator to produce the implicit boundary feature and clip feature, later regarded as queries to calculate the boundary scores by a discriminator. The generation-guided solution enhances video grounding from a two-unique-modals' match task to a cross-modal attention task, which steps out of the previous framework and obtains notable gains. The proposed Generation-guided Multi-level Unified network (GMU) surpasses previous methods and reaches State-Of-The-Art on various benchmarks with disparate features, e.g., Charades-STA, ActivityNet captions.

Yang Yang, Zhongtian Fu, Xiangyu Wu et al.

Current vision-language retrieval aims to perform cross-modal instance search, in which the core idea is to learn the consistent visionlanguage representations. Although the performance of cross-modal retrieval has greatly improved with the development of deep models, we unfortunately find that traditional hard consistency may destroy the original relationships among single-modal instances, leading the performance degradation for single-modal retrieval. To address this challenge, in this paper, we experimentally observe that the vision-language divergence may cause the existence of strong and weak modalities, and the hard cross-modal consistency cannot guarantee that strong modal instances' relationships are not affected by weak modality, resulting in the strong modal instances' relationships perturbed despite learned consistent representations.To this end, we propose a novel and directly Coordinated VisionLanguage Retrieval method (dubbed CoVLR), which aims to study and alleviate the desynchrony problem between the cross-modal alignment and single-modal cluster-preserving tasks. CoVLR addresses this challenge by developing an effective meta-optimization based strategy, in which the cross-modal consistency objective and the intra-modal relation preserving objective are acted as the meta-train and meta-test tasks, thereby CoVLR encourages both tasks to be optimized in a coordinated way. Consequently, we can simultaneously insure cross-modal consistency and intra-modal structure. Experiments on different datasets validate CoVLR can improve single-modal retrieval accuracy whilst preserving crossmodal retrieval capacity compared with the baselines.

Xiangyu Wu, Qing-Yuan Jiang, Yang Yang et al.

The recent introduction of prompt tuning based on pre-trained vision-language models has dramatically improved the performance of multi-label image classification. However, some existing strategies that have been explored still have drawbacks, i.e., either exploiting massive labeled visual data at a high cost or using text data only for text prompt tuning and thus failing to learn the diversity of visual knowledge. Hence, the application scenarios of these methods are limited. In this paper, we propose a pseudo-visual prompt~(PVP) module for implicit visual prompt tuning to address this problem. Specifically, we first learn the pseudo-visual prompt for each category, mining diverse visual knowledge by the well-aligned space of pre-trained vision-language models. Then, a co-learning strategy with a dual-adapter module is designed to transfer visual knowledge from pseudo-visual prompt to text prompt, enhancing their visual representation abilities. Experimental results on VOC2007, MS-COCO, and NUSWIDE datasets demonstrate that our method can surpass state-of-the-art~(SOTA) methods across various settings for multi-label image classification tasks. The code is available at https://github.com/njustkmg/PVP.

Xiangyu Wu, Yang Yang, Shengdong Xu et al.

In this paper, we present our solution to a Multi-modal Algorithmic Reasoning Task: SMART-101 Challenge. Different from the traditional visual question-answering datasets, this challenge evaluates the abstraction, deduction, and generalization abilities of neural networks in solving visuolinguistic puzzles designed specifically for children in the 6-8 age group. We employed a divide-and-conquer approach. At the data level, inspired by the challenge paper, we categorized the whole questions into eight types and utilized the llama-2-chat model to directly generate the type for each question in a zero-shot manner. Additionally, we trained a yolov7 model on the icon45 dataset for object detection and combined it with the OCR method to recognize and locate objects and text within the images. At the model level, we utilized the BLIP-2 model and added eight adapters to the image encoder VIT-G to adaptively extract visual features for different question types. We fed the pre-constructed question templates as input and generated answers using the flan-t5-xxl decoder. Under the puzzle splits configuration, we achieved an accuracy score of 26.5 on the validation set and 24.30 on the private test set.

Xing Cheng, Hezheng Lin, Xiangyu Wu et al.

The task of multi-label image classification is to recognize all the object labels presented in an image. Though advancing for years, small objects, similar objects and objects with high conditional probability are still the main bottlenecks of previous convolutional neural network(CNN) based models, limited by convolutional kernels' representational capacity. Recent vision transformer networks utilize the self-attention mechanism to extract the feature of pixel granularity, which expresses richer local semantic information, while is insufficient for mining global spatial dependence. In this paper, we point out the three crucial problems that CNN-based methods encounter and explore the possibility of conducting specific transformer modules to settle them. We put forward a Multi-label Transformer architecture(MlTr) constructed with windows partitioning, in-window pixel attention, cross-window attention, particularly improving the performance of multi-label image classification tasks. The proposed MlTr shows state-of-the-art results on various prevalent multi-label datasets such as MS-COCO, Pascal-VOC, and NUS-WIDE with 88.5%, 95.8%, and 65.5% respectively. The code will be available soon at https://github.com/starmemda/MlTr/

Hezheng Lin, Xing Cheng, Xiangyu Wu et al.

Since Transformer has found widespread use in NLP, the potential of Transformer in CV has been realized and has inspired many new approaches. However, the computation required for replacing word tokens with image patches for Transformer after the tokenization of the image is vast(e.g., ViT), which bottlenecks model training and inference. In this paper, we propose a new attention mechanism in Transformer termed Cross Attention, which alternates attention inner the image patch instead of the whole image to capture local information and apply attention between image patches which are divided from single-channel feature maps capture global information. Both operations have less computation than standard self-attention in Transformer. By alternately applying attention inner patch and between patches, we implement cross attention to maintain the performance with lower computational cost and build a hierarchical network called Cross Attention Transformer(CAT) for other vision tasks. Our base model achieves state-of-the-arts on ImageNet-1K, and improves the performance of other methods on COCO and ADE20K, illustrating that our network has the potential to serve as general backbones. The code and models are available at \url{https://github.com/linhezheng19/CAT}.

Kwai Keye Team, Biao Yang, Bin Wen et al.

While Multimodal Large Language Models (MLLMs) demonstrate remarkable capabilities on static images, they often fall short in comprehending dynamic, information-dense short-form videos, a dominant medium in today's digital landscape. To bridge this gap, we introduce \textbf{Kwai Keye-VL}, an 8-billion-parameter multimodal foundation model engineered for leading-edge performance in short-video understanding while maintaining robust general-purpose vision-language abilities. The development of Keye-VL rests on two core pillars: a massive, high-quality dataset exceeding 600 billion tokens with a strong emphasis on video, and an innovative training recipe. This recipe features a four-stage pre-training process for solid vision-language alignment, followed by a meticulous two-phase post-training process. The first post-training stage enhances foundational capabilities like instruction following, while the second phase focuses on stimulating advanced reasoning. In this second phase, a key innovation is our five-mode ``cold-start'' data mixture, which includes ``thinking'', ``non-thinking'', ``auto-think'', ``think with image'', and high-quality video data. This mixture teaches the model to decide when and how to reason. Subsequent reinforcement learning (RL) and alignment steps further enhance these reasoning capabilities and correct abnormal model behaviors, such as repetitive outputs. To validate our approach, we conduct extensive evaluations, showing that Keye-VL achieves state-of-the-art results on public video benchmarks and remains highly competitive on general image-based tasks (Figure 1). Furthermore, we develop and release the \textbf{KC-MMBench}, a new benchmark tailored for real-world short-video scenarios, where Keye-VL shows a significant advantage.

Dian Chao, Xin Song, Shupeng Zhong et al.

In this paper, we propose a solution for improving the quality of captions generated for figures in papers. We adopt the approach of summarizing the textual content in the paper to generate image captions. Throughout our study, we encounter discrepancies in the OCR information provided in the official dataset. To rectify this, we employ the PaddleOCR toolkit to extract OCR information from all images. Moreover, we observe that certain textual content in the official paper pertains to images that are not relevant for captioning, thereby introducing noise during caption generation. To mitigate this issue, we leverage LLaMA to extract image-specific information by querying the textual content based on image mentions, effectively filtering out extraneous information. Additionally, we recognize a discrepancy between the primary use of maximum likelihood estimation during text generation and the evaluation metrics such as ROUGE employed to assess the quality of generated captions. To bridge this gap, we integrate the BRIO model framework, enabling a more coherent alignment between the generation and evaluation processes. Our approach ranked first in the final test with a score of 4.49.

Longfei Huang, Shupeng Zhong, Xiangyu Wu et al.

This report introduces a solution to the Topic 1 Zero-shot Image Captioning of 2024 NICE : New frontiers for zero-shot Image Captioning Evaluation. In contrast to NICE 2023 datasets, this challenge involves new annotations by humans with significant differences in caption style and content. Therefore, we enhance image captions effectively through retrieval augmentation and caption grading methods. At the data level, we utilize high-quality captions generated by image caption models as training data to address the gap in text styles. At the model level, we employ OFA (a large-scale visual-language pre-training model based on handcrafted templates) to perform the image captioning task. Subsequently, we propose caption-level strategy for the high-quality caption data generated by the image caption models and integrate them with retrieval augmentation strategy into the template to compel the model to generate higher quality, more matching, and semantically enriched captions based on the retrieval augmentation prompts. Our approach achieves a CIDEr score of 234.11.

Xing Cheng, Hezheng Lin, Xiangyu Wu et al.

Employing large-scale pre-trained model CLIP to conduct video-text retrieval task (VTR) has become a new trend, which exceeds previous VTR methods. Though, due to the heterogeneity of structures and contents between video and text, previous CLIP-based models are prone to overfitting in the training phase, resulting in relatively poor retrieval performance. In this paper, we propose a multi-stream Corpus Alignment network with single gate Mixture-of-Experts (CAMoE) and a novel Dual Softmax Loss (DSL) to solve the two heterogeneity. The CAMoE employs Mixture-of-Experts (MoE) to extract multi-perspective video representations, including action, entity, scene, etc., then align them with the corresponding part of the text. In this stage, we conduct massive explorations towards the feature extraction module and feature alignment module. DSL is proposed to avoid the one-way optimum-match which occurs in previous contrastive methods. Introducing the intrinsic prior of each pair in a batch, DSL serves as a reviser to correct the similarity matrix and achieves the dual optimal match. DSL is easy to implement with only one-line code but improves significantly. The results show that the proposed CAMoE and DSL are of strong efficiency, and each of them is capable of achieving State-of-The-Art (SOTA) individually on various benchmarks such as MSR-VTT, MSVD, and LSMDC. Further, with both of them, the performance is advanced to a big extend, surpassing the previous SOTA methods for around 4.6\% R@1 in MSR-VTT.

Junseok Lee, Xiangyu Wu, Seung Jae Lee et al.

This paper introduces a collision avoidance system for navigating a multicopter in cluttered outdoor environments based on the recent memory-less motion planner, rectangular pyramid partitioning using integrated depth sensors (RAPPIDS). The RAPPIDS motion planner generates collision-free flight trajectories at high speed with low computational cost using only the latest depth image. In this work we extend it to improve the performance of the planner by taking the following issues into account. (a) Changes in the dynamic characteristics of the multicopter that occur during flight, such as changes in motor input/output characteristics due to battery voltage drop. (b) The noise of the flight sensor, which can cause unwanted control input components. (c) Planner utility function which may not be suitable for the cluttered environment. Therefore, in this paper we introduce solutions to each of the above problems and propose a system for the successful operation of the RAPPIDS planner in an outdoor cluttered flight environment. At the end of the paper, we validate the proposed method's effectiveness by presenting the flight experiment results in a forest environment. A video can be found at www.youtube.com/channel/UCK-gErmvZlBODN5gQpNcpsg