arXiv subjects

Anton Van Den Hengel

Publications and source records attributed to Anton Van Den Hengel.

6 recordsLinked to original sources

arXiv2025

Learning to Reason and Navigate: Parameter Efficient Action Planning with Large Language Models

The remote embodied referring expression (REVERIE) task requires an agent to navigate through complex indoor environments and localize a remote object specified by high-level instructions, such as "bring me a spoon", without pre-exploration. Hence, an efficient navigation plan is essential for the final success. This paper proposes a novel parameter-efficient action planner using large language models (PEAP-LLM) to generate a single-step instruction at each location. The proposed model consists of two modules, LLM goal planner (LGP) and LoRA action planner (LAP). Initially, LGP extracts the goal-oriented plan from REVERIE instructions, including the target object and room. Then, LAP generates a single-step instruction with the goal-oriented plan, high-level instruction, and current visual observation as input. PEAP-LLM enables the embodied agent to interact with LAP as the path planner on the fly. A simple direct application of LLMs hardly achieves good performance. Also, existing hard-prompt-based methods are error-prone in complicated scenarios and need human intervention. To address these issues and prevent the LLM from generating hallucinations and biased information, we propose a novel two-stage method for fine-tuning the LLM, consisting of supervised fine-tuning (STF) and direct preference optimization (DPO). SFT improves the quality of generated instructions, while DPO utilizes environmental feedback. Experimental results show the superiority of our proposed model on REVERIE compared to the previous state-of-the-art.

cs.CV↗

arXiv2023

BLiRF: Bandlimited Radiance Fields for Dynamic Scene Modeling

Reasoning the 3D structure of a non-rigid dynamic scene from a single moving camera is an under-constrained problem. Inspired by the remarkable progress of neural radiance fields (NeRFs) in photo-realistic novel view synthesis of static scenes, extensions have been proposed for dynamic settings. These methods heavily rely on neural priors in order to regularize the problem. In this work, we take a step back and reinvestigate how current implementations may entail deleterious effects, including limited expressiveness, entanglement of light and density fields, and sub-optimal motion localization. As a remedy, we advocate for a bridge between classic non-rigid-structure-from-motion (\nrsfm) and NeRF, enabling the well-studied priors of the former to constrain the latter. To this end, we propose a framework that factorizes time and space by formulating a scene as a composition of bandlimited, high-dimensional signals. We demonstrate compelling results across complex dynamic scenes that involve changes in lighting, texture and long-range dynamics.

cs.CV↗

arXiv2021

Learning for Visual Navigation by Imagining the Success

Visual navigation is often cast as a reinforcement learning (RL) problem. Current methods typically result in a suboptimal policy that learns general obstacle avoidance and search behaviours. For example, in the target-object navigation setting, the policies learnt by traditional methods often fail to complete the task, even when the target is clearly within reach from a human perspective. In order to address this issue, we propose to learn to imagine a latent representation of the successful (sub-)goal state. To do so, we have developed a module which we call Foresight Imagination (ForeSIT). ForeSIT is trained to imagine the recurrent latent representation of a future state that leads to success, e.g. either a sub-goal state that is important to reach before the target, or the goal state itself. By conditioning the policy on the generated imagination during training, our agent learns how to use this imagination to achieve its goal robustly. Our agent is able to imagine what the (sub-)goal state may look like (in the latent space) and can learn to navigate towards that state. We develop an efficient learning algorithm to train ForeSIT in an on-policy manner and integrate it into our RL objective. The integration is not trivial due to the constantly evolving state representation shared between both the imagination and the policy. We, empirically, observe that our method outperforms the state-of-the-art methods by a large margin in the commonly accepted benchmark AI2THOR environment. Our method can be readily integrated or added to other model-free RL navigation frameworks.

cs.CV↗

arXiv2020

The Shallow End: Empowering Shallower Deep-Convolutional Networks through Auxiliary Outputs

Depth is one of the key factors behind the success of convolutional neural networks (CNNs). Since ResNet, we are able to train very deep CNNs as the gradient vanishing issue has been largely addressed by the introduction of skip connections. However, we observe that, when the depth is very large, the intermediate layers (especially shallow layers) may fail to receive sufficient supervision from the loss due to the severe transformation through a long backpropagation path. As a result, the representation power of intermediate layers can be very weak and the model becomes very redundant with limited performance. In this paper, we first investigate the supervision vanishing issue in existing backpropagation (BP) methods. And then, we propose to address it via an effective method, called Multi-way BP (MW-BP), which relies on multiple auxiliary losses added to the intermediate layers of the network. The proposed MW-BP method can be applied to most deep architectures with slight modifications, such as ResNet and MobileNet. Our method often gives rise to much more compact models (denoted by "Mw+Architecture") than existing methods. For example, MwResNet-44 with 44 layers performs better than ResNet-110 with 110 layers on CIFAR-10 and CIFAR-100. More critically, the resultant models even outperform the light models obtained by state-of-the-art model compression methods. Last, our method inherently produces multiple compact models with different depths at the same time, which is helpful for model selection.

cs.CV↗

arXiv2018

Towards Effective Deep Embedding for Zero-Shot Learning

Zero-shot learning (ZSL) can be formulated as a cross-domain matching problem: after being projected into a joint embedding space, a visual sample will match against all candidate class-level semantic descriptions and be assigned to the nearest class. In this process, the embedding space underpins the success of such matching and is crucial for ZSL. In this paper, we conduct an in-depth study on the construction of embedding space for ZSL and posit that an ideal embedding space should satisfy two criteria: intra-class compactness and inter-class separability. While the former encourages the embeddings of visual samples of one class to distribute tightly close to the semantic description embedding of this class, the latter requires embeddings from different classes to be well separated from each other. Towards this goal, we present a simple but effective two-branch network to simultaneously map semantic descriptions and visual samples into a joint space, on which visual embeddings are forced to regress to their class-level semantic embeddings and the embeddings crossing classes are required to be distinguishable by a trainable classifier. Furthermore, we extend our method to a transductive setting to better handle the model bias problem in ZSL (i.e., samples from unseen classes tend to be categorized into seen classes) with minimal extra supervision. Specifically, we propose a pseudo labeling strategy to progressively incorporate the testing samples into the training process and thus balance the model between seen and unseen classes. Experimental results on five standard ZSL datasets show the superior performance of the proposed method and its transductive extension.

cs.CV↗

arXiv2015

Scalable Nuclear-norm Minimization by Subspace Pursuit Proximal Riemannian Gradient

Nuclear-norm regularization plays a vital role in many learning tasks, such as low-rank matrix recovery (MR), and low-rank representation (LRR). Solving this problem directly can be computationally expensive due to the unknown rank of variables or large-rank singular value decompositions (SVDs). To address this, we propose a proximal Riemannian gradient (PRG) scheme which can efficiently solve trace-norm regularized problems defined on real-algebraic variety $\mMLr$ of real matrices of rank at most $r$. Based on PRG, we further present a simple and novel subspace pursuit (SP) paradigm for general trace-norm regularized problems without the explicit rank constraint $\mMLr$. The proposed paradigm is very scalable by avoiding large-rank SVDs. Empirical studies on several tasks, such as matrix completion and LRR based subspace clustering, demonstrate the superiority of the proposed paradigms over existing methods.

cs.LG↗