arXiv subjects

Rui Shao

Publications and source records attributed to Rui Shao.

At least 55 records · Page 3Linked to original sources

arXiv2025

Spatial-Temporal Graph Diffusion Policy with Kinematic Modeling for Bimanual Robotic Manipulation

Despite the significant success of imitation learning in robotic manipulation, its application to bimanual tasks remains highly challenging. Existing approaches mainly learn a policy to predict a distant next-best end-effector pose (NBP) and then compute the corresponding joint rotation angles for motion using inverse kinematics. However, they suffer from two important issues: (1) rarely considering the physical robotic structure, which may cause self-collisions or interferences, and (2) overlooking the kinematics constraint, which may result in the predicted poses not conforming to the actual limitations of the robot joints. In this paper, we propose Kinematics enhanced Spatial-TemporAl gRaph Diffuser (KStar Diffuser). Specifically, (1) to incorporate the physical robot structure information into action prediction, KStar Diffuser maintains a dynamic spatial-temporal graph according to the physical bimanual joint motions at continuous timesteps. This dynamic graph serves as the robot-structure condition for denoising the actions; (2) to make the NBP learning objective consistent with kinematics, we introduce the differentiable kinematics to provide the reference for optimizing KStar Diffuser. This module regularizes the policy to predict more reliable and kinematics-aware next end-effector poses. Experimental results show that our method effectively leverages the physical structural information and generates kinematics-aware actions in both simulation and real-world

cs.RO↗

arXiv2025

Optimus-2: Multimodal Minecraft Agent with Goal-Observation-Action Conditioned Policy

Building an agent that can mimic human behavior patterns to accomplish various open-world tasks is a long-term goal. To enable agents to effectively learn behavioral patterns across diverse tasks, a key challenge lies in modeling the intricate relationships among observations, actions, and language. To this end, we propose Optimus-2, a novel Minecraft agent that incorporates a Multimodal Large Language Model (MLLM) for high-level planning, alongside a Goal-Observation-Action Conditioned Policy (GOAP) for low-level control. GOAP contains (1) an Action-guided Behavior Encoder that models causal relationships between observations and actions at each timestep, then dynamically interacts with the historical observation-action sequence, consolidating it into fixed-length behavior tokens, and (2) an MLLM that aligns behavior tokens with open-ended language instructions to predict actions auto-regressively. Moreover, we introduce a high-quality Minecraft Goal-Observation-Action (MGOA)} dataset, which contains 25,000 videos across 8 atomic tasks, providing about 30M goal-observation-action pairs. The automated construction method, along with the MGOA dataset, can contribute to the community's efforts to train Minecraft agents. Extensive experimental results demonstrate that Optimus-2 exhibits superior performance across atomic tasks, long-horizon tasks, and open-ended instruction tasks in Minecraft. Please see the project page at https://cybertronagent.github.io/Optimus-2.github.io/.

cs.AI↗

arXiv2025

LION-FS: Fast & Slow Video-Language Thinker as Online Video Assistant

First-person video assistants are highly anticipated to enhance our daily lives through online video dialogue. However, existing online video assistants often sacrifice assistant efficacy for real-time efficiency by processing low-frame-rate videos with coarse-grained visual features.To overcome the trade-off between efficacy and efficiency, we propose "Fast & Slow Video-Language Thinker" as an onLIne videO assistaNt, LION-FS, achieving real-time, proactive, temporally accurate, and contextually precise responses. LION-FS adopts a two-stage optimization strategy: 1)Fast Path: Routing-Based Response Determination evaluates frame-by-frame whether an immediate response is necessary. To enhance response determination accuracy and handle higher frame-rate inputs efficiently, we employ Token Aggregation Routing to dynamically fuse spatiotemporal features without increasing token numbers, while utilizing Token Dropping Routing to eliminate redundant features. 2)Slow Path: Multi-granularity Keyframe Augmentation optimizes keyframes during response generation. To provide comprehensive and detailed responses beyond atomic actions constrained by training data, fine-grained spatial features and human-environment interaction features are extracted through multi-granular pooling. These features are further integrated into a meticulously designed multimodal Thinking Template to guide more precise response generation. Comprehensive evaluations on online video tasks demonstrate that LION-FS achieves state-of-the-art efficacy and efficiency.

cs.CV↗

arXiv2024

DeepFake-Adapter: Dual-Level Adapter for DeepFake Detection

Existing deepfake detection methods fail to generalize well to unseen or degraded samples, which can be attributed to the over-fitting of low-level forgery patterns. Here we argue that high-level semantics are also indispensable recipes for generalizable forgery detection. Recently, large pre-trained Vision Transformers (ViTs) have shown promising generalization capability. In this paper, we propose the first parameter-efficient tuning approach for deepfake detection, namely DeepFake-Adapter, to effectively and efficiently adapt the generalizable high-level semantics from large pre-trained ViTs to aid deepfake detection. Given large pre-trained models but limited deepfake data, DeepFake-Adapter introduces lightweight yet dedicated dual-level adapter modules to a ViT while keeping the model backbone frozen. Specifically, to guide the adaptation process to be aware of both global and local forgery cues of deepfake data, 1) we not only insert Globally-aware Bottleneck Adapters in parallel to MLP layers of ViT, 2) but also actively cross-attend Locally-aware Spatial Adapters with features from ViT. Unlike existing deepfake detection methods merely focusing on low-level forgery patterns, the forgery detection process of our model can be regularized by generalizable high-level semantics from a pre-trained ViT and adapted by global and local low-level forgeries of deepfake data. Extensive experiments on several standard deepfake detection benchmarks validate the effectiveness of our approach. Notably, DeepFake-Adapter demonstrates a convincing advantage under cross-dataset and cross-manipulation settings. The code has been released at https://github.com/rshaojimmy/DeepFake-Adapter.

cs.CV↗

arXiv2024

Robust Sequential DeepFake Detection

Since photorealistic faces can be readily generated by facial manipulation technologies nowadays, potential malicious abuse of these technologies has drawn great concerns. Numerous deepfake detection methods are thus proposed. However, existing methods only focus on detecting one-step facial manipulation. As the emergence of easy-accessible facial editing applications, people can easily manipulate facial components using multi-step operations in a sequential manner. This new threat requires us to detect a sequence of facial manipulations, which is vital for both detecting deepfake media and recovering original faces afterwards. Motivated by this observation, we emphasize the need and propose a novel research problem called Detecting Sequential DeepFake Manipulation (Seq-DeepFake). Unlike the existing deepfake detection task only demanding a binary label prediction, detecting Seq-DeepFake manipulation requires correctly predicting a sequential vector of facial manipulation operations. To support a large-scale investigation, we construct the first Seq-DeepFake dataset, where face images are manipulated sequentially with corresponding annotations of sequential facial manipulation vectors. Based on this new dataset, we cast detecting Seq-DeepFake manipulation as a specific image-to-sequence task and propose a concise yet effective Seq-DeepFake Transformer (SeqFakeFormer). To better reflect real-world deepfake data distributions, we further apply various perturbations on the original Seq-DeepFake dataset and construct the more challenging Sequential DeepFake dataset with perturbations (Seq-DeepFake-P). To exploit deeper correlation between images and sequences when facing Seq-DeepFake-P, a dedicated Seq-DeepFake Transformer with Image-Sequence Reasoning (SeqFakeFormer++) is devised, which builds stronger correspondence between image-sequence pairs for more robust Seq-DeepFake detection.

cs.CV↗

arXiv2024

Optimus-1: Hybrid Multimodal Memory Empowered Agents Excel in Long-Horizon Tasks

Building a general-purpose agent is a long-standing vision in the field of artificial intelligence. Existing agents have made remarkable progress in many domains, yet they still struggle to complete long-horizon tasks in an open world. We attribute this to the lack of necessary world knowledge and multimodal experience that can guide agents through a variety of long-horizon tasks. In this paper, we propose a Hybrid Multimodal Memory module to address the above challenges. It 1) transforms knowledge into Hierarchical Directed Knowledge Graph that allows agents to explicitly represent and learn world knowledge, and 2) summarises historical information into Abstracted Multimodal Experience Pool that provide agents with rich references for in-context learning. On top of the Hybrid Multimodal Memory module, a multimodal agent, Optimus-1, is constructed with dedicated Knowledge-guided Planner and Experience-Driven Reflector, contributing to a better planning and reflection in the face of long-horizon tasks in Minecraft. Extensive experimental results show that Optimus-1 significantly outperforms all existing agents on challenging long-horizon task benchmarks, and exhibits near human-level performance on many tasks. In addition, we introduce various Multimodal Large Language Models (MLLMs) as the backbone of Optimus-1. Experimental results show that Optimus-1 exhibits strong generalization with the help of the Hybrid Multimodal Memory module, outperforming the GPT-4V baseline on many tasks.

cs.AI↗

arXiv2024

Enhancing Emotional Generation Capability of Large Language Models via Emotional Chain-of-Thought

Large Language Models (LLMs) have shown remarkable performance in various emotion recognition tasks, thereby piquing the research community's curiosity for exploring their potential in emotional intelligence. However, several issues in the field of emotional generation tasks remain unresolved, including human preference alignment and emotional generation assessment. In this paper, we propose the Emotional Chain-of-Thought (ECoT), a plug-and-play prompting method that enhances the performance of LLMs on various emotional generation tasks by aligning with human emotional intelligence guidelines. To assess the reliability of ECoT, we propose an automated model-based evaluation method called Emotional Generation Score (EGS). EGS incorporates Goleman's Emotional Intelligence Theory as a consensus of human experts, providing a new perspective on the evaluation of emotional generation tasks. Extensive experimental results demonstrate the effectiveness of ECoT and EGS. Further, we discuss the promise of LLMs in the field of emotional intelligence and present key insights into the LLMs with the ECoT in emotional generation tasks.

cs.CL↗

arXiv2024

Token-level Correlation-guided Compression for Efficient Multimodal Document Understanding

Cropping high-resolution document images into multiple sub-images is the most widely used approach for current Multimodal Large Language Models (MLLMs) to do document understanding. Most of current document understanding methods preserve all tokens within sub-images and treat them equally. This neglects their different informativeness and leads to a significant increase in the number of image tokens. To perform a more adaptive and efficient document understanding, we propose Token-level Correlation-guided Compression, a parameter-free and plug-and-play methodology to optimize token processing. Firstly, we propose an innovative approach for assessing the pattern repetitiveness based on the correlation between each patch tokens. This method identifies redundant tokens, allowing for the determination of the sub-image's information density. Secondly, we present a token-level sampling method that efficiently captures the most informative tokens by delving into the correlation between the [CLS] token and patch tokens. By integrating these strategies, we develop a plug-and-play adaptive compressor module that can be seamlessly incorporated into MLLMs utilizing cropping techniques. This module not only enhances the processing speed during training and inference but also maintains comparable performance. We conduct experiments with the SOTA document understanding model mPLUG-DocOwl1.5 and the effectiveness is demonstrated through extensive comparisons with other compression methods.

cs.CV↗

arXiv2024

MoME: Mixture of Multimodal Experts for Generalist Multimodal Large Language Models

Multimodal large language models (MLLMs) have demonstrated impressive capabilities across various vision-language tasks. However, a generalist MLLM typically underperforms compared with a specialist MLLM on most VL tasks, which can be attributed to task interference. In this paper, we propose a mixture of multimodal experts (MoME) to mitigate task interference and obtain a generalist MLLM. Our MoME is composed of two key components, a mixture of vision experts (MoVE) and a mixture of language experts (MoLE). MoVE can adaptively modulate the features transformed from various vision encoders, and has a strong compatibility in transformation architecture. MoLE incorporates sparsely gated experts into LLMs to achieve painless improvements with roughly unchanged inference costs. In response to task interference, our MoME specializes in both vision and language modality to adapt to task discrepancies. Extensive experiments show that MoME significantly improves the performance of generalist MLLMs across various VL tasks. The source code is released at https://github.com/JiuTian-VL/MoME

cs.CV↗

arXiv2024

RoboMP$^2$: A Robotic Multimodal Perception-Planning Framework with Multimodal Large Language Models

Multimodal Large Language Models (MLLMs) have shown impressive reasoning abilities and general intelligence in various domains. It inspires researchers to train end-to-end MLLMs or utilize large models to generate policies with human-selected prompts for embodied agents. However, these methods exhibit limited generalization capabilities on unseen tasks or scenarios, and overlook the multimodal environment information which is critical for robots to make decisions. In this paper, we introduce a novel Robotic Multimodal Perception-Planning (RoboMP$^2$) framework for robotic manipulation which consists of a Goal-Conditioned Multimodal Preceptor (GCMP) and a Retrieval-Augmented Multimodal Planner (RAMP). Specially, GCMP captures environment states by employing a tailored MLLMs for embodied agents with the abilities of semantic reasoning and localization. RAMP utilizes coarse-to-fine retrieval method to find the $k$ most-relevant policies as in-context demonstrations to enhance the planner. Extensive experiments demonstrate the superiority of RoboMP$^2$ on both VIMA benchmark and real-world tasks, with around 10% improvement over the baselines.

cs.RO↗

arXiv2024

CAT: Enhancing Multimodal Large Language Model to Answer Questions in Dynamic Audio-Visual Scenarios

This paper focuses on the challenge of answering questions in scenarios that are composed of rich and complex dynamic audio-visual components. Although existing Multimodal Large Language Models (MLLMs) can respond to audio-visual content, these responses are sometimes ambiguous and fail to describe specific audio-visual events. To overcome this limitation, we introduce the CAT, which enhances MLLM in three ways: 1) besides straightforwardly bridging audio and video, we design a clue aggregator that aggregates question-related clues in dynamic audio-visual scenarios to enrich the detailed knowledge required for large language models. 2) CAT is trained on a mixed multimodal dataset, allowing direct application in audio-visual scenarios. Notably, we collect an audio-visual joint instruction dataset named AVinstruct, to further enhance the capacity of CAT to model cross-semantic correlations. 3) we propose AI-assisted ambiguity-aware direct preference optimization, a strategy specialized in retraining the model to favor the non-ambiguity response and improve the ability to localize specific audio-visual objects. Extensive experimental results demonstrate that CAT outperforms existing methods on multimodal tasks, especially in Audio-Visual Question Answering (AVQA) tasks. The codes and the collected instructions are released at https://github.com/rikeilong/Bay-CAT.

cs.CV↗

arXiv2023

LION : Empowering Multimodal Large Language Model with Dual-Level Visual Knowledge

Multimodal Large Language Models (MLLMs) have endowed LLMs with the ability to perceive and understand multi-modal signals. However, most of the existing MLLMs mainly adopt vision encoders pretrained on coarsely aligned image-text pairs, leading to insufficient extraction and reasoning of visual knowledge. To address this issue, we devise a dual-Level vIsual knOwledge eNhanced Multimodal Large Language Model (LION), which empowers the MLLM by injecting visual knowledge in two levels. 1) Progressive incorporation of fine-grained spatial-aware visual knowledge. We design a vision aggregator cooperated with region-level vision-language (VL) tasks to incorporate fine-grained spatial-aware visual knowledge into the MLLM. To alleviate the conflict between image-level and region-level VL tasks during incorporation, we devise a dedicated stage-wise instruction-tuning strategy with mixture-of-adapters. This progressive incorporation scheme contributes to the mutual promotion between these two kinds of VL tasks. 2) Soft prompting of high-level semantic visual evidence. We facilitate the MLLM with high-level semantic visual evidence by leveraging diverse image tags. To mitigate the potential influence caused by imperfect predicted tags, we propose a soft prompting method by embedding a learnable token into the tailored text instruction. Comprehensive experiments on several multi-modal benchmarks demonstrate the superiority of our model (e.g., improvement of 5% accuracy on VSR and 3% CIDEr on TextCaps over InstructBLIP, 5% accuracy on RefCOCOg over Kosmos-2).

cs.CV↗

arXiv2023

Detecting and Grounding Multi-Modal Media Manipulation and Beyond

Misinformation has become a pressing issue. Fake media, in both visual and textual forms, is widespread on the web. While various deepfake detection and text fake news detection methods have been proposed, they are only designed for single-modality forgery based on binary classification, let alone analyzing and reasoning subtle forgery traces across different modalities. In this paper, we highlight a new research problem for multi-modal fake media, namely Detecting and Grounding Multi-Modal Media Manipulation (DGM^4). DGM^4 aims to not only detect the authenticity of multi-modal media, but also ground the manipulated content, which requires deeper reasoning of multi-modal media manipulation. To support a large-scale investigation, we construct the first DGM^4 dataset, where image-text pairs are manipulated by various approaches, with rich annotation of diverse manipulations. Moreover, we propose a novel HierArchical Multi-modal Manipulation rEasoning tRansformer (HAMMER) to fully capture the fine-grained interaction between different modalities. HAMMER performs 1) manipulation-aware contrastive learning between two uni-modal encoders as shallow manipulation reasoning, and 2) modality-aware cross-attention by multi-modal aggregator as deep manipulation reasoning. Dedicated manipulation detection and grounding heads are integrated from shallow to deep levels based on the interacted multi-modal information. To exploit more fine-grained contrastive learning for cross-modal semantic alignment, we further integrate Manipulation-Aware Contrastive Loss with Local View and construct a more advanced model HAMMER++. Finally, we build an extensive benchmark and set up rigorous evaluation metrics for this new research problem. Comprehensive experiments demonstrate the superiority of HAMMER and HAMMER++.

cs.CV↗

arXiv2023

Detecting and Grounding Multi-Modal Media Manipulation

Misinformation has become a pressing issue. Fake media, in both visual and textual forms, is widespread on the web. While various deepfake detection and text fake news detection methods have been proposed, they are only designed for single-modality forgery based on binary classification, let alone analyzing and reasoning subtle forgery traces across different modalities. In this paper, we highlight a new research problem for multi-modal fake media, namely Detecting and Grounding Multi-Modal Media Manipulation (DGM^4). DGM^4 aims to not only detect the authenticity of multi-modal media, but also ground the manipulated content (i.e., image bounding boxes and text tokens), which requires deeper reasoning of multi-modal media manipulation. To support a large-scale investigation, we construct the first DGM^4 dataset, where image-text pairs are manipulated by various approaches, with rich annotation of diverse manipulations. Moreover, we propose a novel HierArchical Multi-modal Manipulation rEasoning tRansformer (HAMMER) to fully capture the fine-grained interaction between different modalities. HAMMER performs 1) manipulation-aware contrastive learning between two uni-modal encoders as shallow manipulation reasoning, and 2) modality-aware cross-attention by multi-modal aggregator as deep manipulation reasoning. Dedicated manipulation detection and grounding heads are integrated from shallow to deep levels based on the interacted multi-modal information. Finally, we build an extensive benchmark and set up rigorous evaluation metrics for this new research problem. Comprehensive experiments demonstrate the superiority of our model; several valuable observations are also revealed to facilitate future research in multi-modal media manipulation.

cs.CV↗

arXiv2022

Mixup for Test-Time Training

Test-time training provides a new approach solving the problem of domain shift. In its framework, a test-time training phase is inserted between training phase and test phase. During test-time training phase, usually parts of the model are updated with test sample(s). Then the updated model will be used in the test phase. However, utilizing test samples for test-time training has some limitations. Firstly, it will lead to overfitting to the test-time procedure thus hurt the performance on the main task. Besides, updating part of the model without changing other parts will induce a mismatch problem. Thus it is hard to perform better on the main task. To relieve above problems, we propose to use mixup in test-time training (MixTTT) which controls the change of model's parameters as well as completing the test-time procedure. We theoretically show its contribution in alleviating the mismatch problem of updated part and static part for the main task as a specific regularization effect for test-time training. MixTTT can be used as an add-on module in general test-time training based methods to further improve their performance. Experimental results show the effectiveness of our method.

cs.LG↗

arXiv2022

Detecting and Recovering Sequential DeepFake Manipulation

Since photorealistic faces can be readily generated by facial manipulation technologies nowadays, potential malicious abuse of these technologies has drawn great concerns. Numerous deepfake detection methods are thus proposed. However, existing methods only focus on detecting one-step facial manipulation. As the emergence of easy-accessible facial editing applications, people can easily manipulate facial components using multi-step operations in a sequential manner. This new threat requires us to detect a sequence of facial manipulations, which is vital for both detecting deepfake media and recovering original faces afterwards. Motivated by this observation, we emphasize the need and propose a novel research problem called Detecting Sequential DeepFake Manipulation (Seq-DeepFake). Unlike the existing deepfake detection task only demanding a binary label prediction, detecting Seq-DeepFake manipulation requires correctly predicting a sequential vector of facial manipulation operations. To support a large-scale investigation, we construct the first Seq-DeepFake dataset, where face images are manipulated sequentially with corresponding annotations of sequential facial manipulation vectors. Based on this new dataset, we cast detecting Seq-DeepFake manipulation as a specific image-to-sequence (e.g. image captioning) task and propose a concise yet effective Seq-DeepFake Transformer (SeqFakeFormer). Moreover, we build a comprehensive benchmark and set up rigorous evaluation protocols and metrics for this new research problem. Extensive experiments demonstrate the effectiveness of SeqFakeFormer. Several valuable observations are also revealed to facilitate future research in broader deepfake detection problems.

cs.CV↗

arXiv2022

Federated Generalized Face Presentation Attack Detection

Face presentation attack detection plays a critical role in the modern face recognition pipeline. A face presentation attack detection model with good generalization can be obtained when it is trained with face images from different input distributions and different types of spoof attacks. In reality, training data (both real face images and spoof images) are not directly shared between data owners due to legal and privacy issues. In this paper, with the motivation of circumventing this challenge, we propose a Federated Face Presentation Attack Detection (FedPAD) framework that simultaneously takes advantage of rich fPAD information available at different data owners while preserving data privacy. In the proposed framework, each data center locally trains its own fPAD model. A server learns a global fPAD model by iteratively aggregating model updates from all data centers without accessing private data in each of them. To equip the aggregated fPAD model in the server with better generalization ability to unseen attacks from users, following the basic idea of FedPAD, we further propose a Federated Generalized Face Presentation Attack Detection (FedGPAD) framework. A federated domain disentanglement strategy is introduced in FedGPAD, which treats each data center as one domain and decomposes the fPAD model into domain-invariant and domain-specific parts in each data center. Two parts disentangle the domain-invariant and domain-specific features from images in each local data center, respectively. A server learns a global fPAD model by only aggregating domain-invariant parts of the fPAD models from data centers and thus a more generalized fPAD model can be aggregated in server. We introduce the experimental setting to evaluate the proposed FedPAD and FedGPAD frameworks and carry out extensive experiments to provide various insights about federated learning for fPAD.

cs.CV↗

arXiv2022

Open-set Adversarial Defense with Clean-Adversarial Mutual Learning

Open-set recognition and adversarial defense study two key aspects of deep learning that are vital for real-world deployment. The objective of open-set recognition is to identify samples from open-set classes during testing, while adversarial defense aims to robustify the network against images perturbed by imperceptible adversarial noise. This paper demonstrates that open-set recognition systems are vulnerable to adversarial samples. Furthermore, this paper shows that adversarial defense mechanisms trained on known classes are unable to generalize well to open-set samples. Motivated by these observations, we emphasize the necessity of an Open-Set Adversarial Defense (OSAD) mechanism. This paper proposes an Open-Set Defense Network with Clean-Adversarial Mutual Learning (OSDN-CAML) as a solution to the OSAD problem. The proposed network designs an encoder with dual-attentive feature-denoising layers coupled with a classifier to learn a noise-free latent feature representation, which adaptively removes adversarial noise guided by channel and spatial-wise attentive filters. Several techniques are exploited to learn a noise-free and informative latent feature space with the aim of improving the performance of adversarial defense and open-set recognition. First, we incorporate a decoder to ensure that clean images can be well reconstructed from the obtained latent features. Then, self-supervision is used to ensure that the latent features are informative enough to carry out an auxiliary task. Finally, to exploit more complementary knowledge from clean image classification to facilitate feature denoising and search for a more generalized local minimum for open-set recognition, we further propose clean-adversarial mutual learning, where a peer network (classifying clean images) is further introduced to mutually learn with the classifier (classifying adversarial images).

cs.CV↗