arXiv subjects

Sheng Guo

Publications and source records attributed to Sheng Guo.

At least 37 records · Page 2Linked to original sources

arXiv2024

DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Method for Multi-Dexterous Robotic Hands

The versatility and adaptability of human grasping catalyze advancing dexterous robotic manipulation. While significant strides have been made in dexterous grasp generation, current research endeavors pivot towards optimizing object manipulation while ensuring functional integrity, emphasizing the synthesis of functional grasps following desired affordance instructions. This paper addresses the challenge of synthesizing functional grasps tailored to diverse dexterous robotic hands by proposing DexGrasp-Diffusion, an end-to-end modularized diffusion-based method. DexGrasp-Diffusion integrates MultiHandDiffuser, a novel unified data-driven diffusion model for multi-dexterous hands grasp estimation, with DexDiscriminator, which employs a Physics Discriminator and a Functional Discriminator with open-vocabulary setting to filter physically plausible functional grasps based on object affordances. The experimental evaluation conducted on the MultiDex dataset provides substantiating evidence supporting the superior performance of MultiHandDiffuser over the baseline model in terms of success rate, grasp diversity, and collision depth. Moreover, we demonstrate the capacity of DexGrasp-Diffusion to reliably generate functional grasps for household objects aligned with specific affordance instructions.

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arXiv2024

StageInteractor: Query-based Object Detector with Cross-stage Interaction

Previous object detectors make predictions based on dense grid points or numerous preset anchors. Most of these detectors are trained with one-to-many label assignment strategies. On the contrary, recent query-based object detectors depend on a sparse set of learnable queries and a series of decoder layers. The one-to-one label assignment is independently applied on each layer for the deep supervision during training. Despite the great success of query-based object detection, however, this one-to-one label assignment strategy demands the detectors to have strong fine-grained discrimination and modeling capacity. To solve the above problems, in this paper, we propose a new query-based object detector with cross-stage interaction, coined as StageInteractor. During the forward propagation, we come up with an efficient way to improve this modeling ability by reusing dynamic operators with lightweight adapters. As for the label assignment, a cross-stage label assigner is applied subsequent to the one-to-one label assignment. With this assigner, the training target class labels are gathered across stages and then reallocated to proper predictions at each decoder layer. On MS COCO benchmark, our model improves the baseline by 2.2 AP, and achieves 44.8 AP with ResNet-50 as backbone, 100 queries and 12 training epochs. With longer training time and 300 queries, StageInteractor achieves 51.1 AP and 52.2 AP with ResNeXt-101-DCN and Swin-S, respectively.

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arXiv2023

Edge Wasserstein Distance Loss for Oriented Object Detection

Regression loss design is an essential topic for oriented object detection. Due to the periodicity of the angle and the ambiguity of width and height definition, traditional L1-distance loss and its variants have been suffered from the metric discontinuity and the square-like problem. As a solution, the distribution based methods show significant advantages by representing oriented boxes as distributions. Differing from exploited the Gaussian distribution to get analytical form of distance measure, we propose a novel oriented regression loss, Wasserstein Distance(EWD) loss, to alleviate the square-like problem. Specifically, for the oriented box(OBox) representation, we choose a specially-designed distribution whose probability density function is only nonzero over the edges. On this basis, we develop Wasserstein distance as the measure. Besides, based on the edge representation of OBox, the EWD loss can be generalized to quadrilateral and polynomial regression scenarios. Experiments on multiple popular datasets and different detectors show the effectiveness of the proposed method.

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arXiv2023

MHSCNet: A Multimodal Hierarchical Shot-aware Convolutional Network for Video Summarization

Video summarization intends to produce a concise video summary by effectively capturing and combining the most informative parts of the whole content. Existing approaches for video summarization regard the task as a frame-wise keyframe selection problem and generally construct the frame-wise representation by combining the long-range temporal dependency with the unimodal or bimodal information. However, the optimal video summaries need to reflect the most valuable keyframe with its own information, and one with semantic power of the whole content. Thus, it is critical to construct a more powerful and robust frame-wise representation and predict the frame-level importance score in a fair and comprehensive manner. To tackle the above issues, we propose a multimodal hierarchical shot-aware convolutional network, denoted as MHSCNet, to enhance the frame-wise representation via combining the comprehensive available multimodal information. Specifically, we design a hierarchical ShotConv network to incorporate the adaptive shot-aware frame-level representation by considering the short-range and long-range temporal dependency. Based on the learned shot-aware representations, MHSCNet can predict the frame-level importance score in the local and global view of the video. Extensive experiments on two standard video summarization datasets demonstrate that our proposed method consistently outperforms state-of-the-art baselines. Source code will be made publicly available.

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arXiv2023

Learning 3D-aware Image Synthesis with Unknown Pose Distribution

Existing methods for 3D-aware image synthesis largely depend on the 3D pose distribution pre-estimated on the training set. An inaccurate estimation may mislead the model into learning faulty geometry. This work proposes PoF3D that frees generative radiance fields from the requirements of 3D pose priors. We first equip the generator with an efficient pose learner, which is able to infer a pose from a latent code, to approximate the underlying true pose distribution automatically. We then assign the discriminator a task to learn pose distribution under the supervision of the generator and to differentiate real and synthesized images with the predicted pose as the condition. The pose-free generator and the pose-aware discriminator are jointly trained in an adversarial manner. Extensive results on a couple of datasets confirm that the performance of our approach, regarding both image quality and geometry quality, is on par with state of the art. To our best knowledge, PoF3D demonstrates the feasibility of learning high-quality 3D-aware image synthesis without using 3D pose priors for the first time.

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arXiv2023

Efficient Training of Large-scale Industrial Fault Diagnostic Models through Federated Opportunistic Block Dropout

Artificial intelligence (AI)-empowered industrial fault diagnostics is important in ensuring the safe operation of industrial applications. Since complex industrial systems often involve multiple industrial plants (possibly belonging to different companies or subsidiaries) with sensitive data collected and stored in a distributed manner, collaborative fault diagnostic model training often needs to leverage federated learning (FL). As the scale of the industrial fault diagnostic models are often large and communication channels in such systems are often not exclusively used for FL model training, existing deployed FL model training frameworks cannot train such models efficiently across multiple institutions. In this paper, we report our experience developing and deploying the Federated Opportunistic Block Dropout (FEDOBD) approach for industrial fault diagnostic model training. By decomposing large-scale models into semantic blocks and enabling FL participants to opportunistically upload selected important blocks in a quantized manner, it significantly reduces the communication overhead while maintaining model performance. Since its deployment in ENN Group in February 2022, FEDOBD has served two coal chemical plants across two cities in China to build industrial fault prediction models. It helped the company reduce the training communication overhead by over 70% compared to its previous AI Engine, while maintaining model performance at over 85% test F1 score. To our knowledge, it is the first successfully deployed dropout-based FL approach.

cs.LG↗

arXiv2023

CoMAE: Single Model Hybrid Pre-training on Small-Scale RGB-D Datasets

Current RGB-D scene recognition approaches often train two standalone backbones for RGB and depth modalities with the same Places or ImageNet pre-training. However, the pre-trained depth network is still biased by RGB-based models which may result in a suboptimal solution. In this paper, we present a single-model self-supervised hybrid pre-training framework for RGB and depth modalities, termed as CoMAE. Our CoMAE presents a curriculum learning strategy to unify the two popular self-supervised representation learning algorithms: contrastive learning and masked image modeling. Specifically, we first build a patch-level alignment task to pre-train a single encoder shared by two modalities via cross-modal contrastive learning. Then, the pre-trained contrastive encoder is passed to a multi-modal masked autoencoder to capture the finer context features from a generative perspective. In addition, our single-model design without requirement of fusion module is very flexible and robust to generalize to unimodal scenario in both training and testing phases. Extensive experiments on SUN RGB-D and NYUDv2 datasets demonstrate the effectiveness of our CoMAE for RGB and depth representation learning. In addition, our experiment results reveal that CoMAE is a data-efficient representation learner. Although we only use the small-scale and unlabeled training set for pre-training, our CoMAE pre-trained models are still competitive to the state-of-the-art methods with extra large-scale and supervised RGB dataset pre-training. Code will be released at https://github.com/MCG-NJU/CoMAE.

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arXiv2022

Personalized Federated Learning for Multi-task Fault Diagnosis of Rotating Machinery

Intelligent fault diagnosis is essential to safe operation of machinery. However, due to scarce fault samples and data heterogeneity in field machinery, deep learning based diagnosis methods are prone to over-fitting with poor generalization ability. To solve the problem, this paper proposes a personalized federated learning framework, enabling multi-task fault diagnosis method across multiple factories in a privacypreserving manner. Firstly, rotating machines from different factories with similar vibration feature data are categorized into machine groups using a federated clustering method. Then, a multi-task deep learning model based on convolutional neural network is constructed to diagnose the multiple faults of machinery with heterogeneous information fusion. Finally, a personalized federated learning framework is proposed to solve data heterogeneity across different machines using adaptive hierarchical aggregation strategy. The case study on collected data from real machines verifies the effectiveness of the proposed framework. The result shows that the diagnosis accuracy could be improved significantly using the proposed personalized federated learning, especially for those machines with scarce fault samples.

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arXiv2022

Economical Precise Manipulation and Auto Eye-Hand Coordination with Binocular Visual Reinforcement Learning

Precision robotic manipulation tasks (insertion, screwing, precisely pick, precisely place) are required in many scenarios. Previous methods achieved good performance on such manipulation tasks. However, such methods typically require tedious calibration or expensive sensors. 3D/RGB-D cameras and torque/force sensors add to the cost of the robotic application and may not always be economical. In this work, we aim to solve these but using only weak-calibrated and low-cost webcams. We propose Binocular Alignment Learning (BAL), which could automatically learn the eye-hand coordination and points alignment capabilities to solve the four tasks. Our work focuses on working with unknown eye-hand coordination and proposes different ways of performing eye-in-hand camera calibration automatically. The algorithm was trained in simulation and used a practical pipeline to achieve sim2real and test it on the real robot. Our method achieves a competitively good result with minimal cost on the four tasks.

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arXiv2022

Real2Sim or Sim2Real: Robotics Visual Insertion using Deep Reinforcement Learning and Real2Sim Policy Adaptation

Reinforcement learning has shown a wide usage in robotics tasks, such as insertion and grasping. However, without a practical sim2real strategy, the policy trained in simulation could fail on the real task. There are also wide researches in the sim2real strategies, but most of those methods rely on heavy image rendering, domain randomization training, or tuning. In this work, we solve the insertion task using a pure visual reinforcement learning solution with minimum infrastructure requirement. We also propose a novel sim2real strategy, Real2Sim, which provides a novel and easier solution in policy adaptation. We discuss the advantage of Real2Sim compared with Sim2Real.

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arXiv2022

Cross-Architecture Self-supervised Video Representation Learning

In this paper, we present a new cross-architecture contrastive learning (CACL) framework for self-supervised video representation learning. CACL consists of a 3D CNN and a video transformer which are used in parallel to generate diverse positive pairs for contrastive learning. This allows the model to learn strong representations from such diverse yet meaningful pairs. Furthermore, we introduce a temporal self-supervised learning module able to predict an Edit distance explicitly between two video sequences in the temporal order. This enables the model to learn a rich temporal representation that compensates strongly to the video-level representation learned by the CACL. We evaluate our method on the tasks of video retrieval and action recognition on UCF101 and HMDB51 datasets, where our method achieves excellent performance, surpassing the state-of-the-art methods such as VideoMoCo and MoCo+BE by a large margin. The code is made available at https://github.com/guoshengcv/CACL.

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arXiv2022

AdaMixer: A Fast-Converging Query-Based Object Detector

Traditional object detectors employ the dense paradigm of scanning over locations and scales in an image. The recent query-based object detectors break this convention by decoding image features with a set of learnable queries. However, this paradigm still suffers from slow convergence, limited performance, and design complexity of extra networks between backbone and decoder. In this paper, we find that the key to these issues is the adaptability of decoders for casting queries to varying objects. Accordingly, we propose a fast-converging query-based detector, named AdaMixer, by improving the adaptability of query-based decoding processes in two aspects. First, each query adaptively samples features over space and scales based on estimated offsets, which allows AdaMixer to efficiently attend to the coherent regions of objects. Then, we dynamically decode these sampled features with an adaptive MLP-Mixer under the guidance of each query. Thanks to these two critical designs, AdaMixer enjoys architectural simplicity without requiring dense attentional encoders or explicit pyramid networks. On the challenging MS COCO benchmark, AdaMixer with ResNet-50 as the backbone, with 12 training epochs, reaches up to 45.0 AP on the validation set along with 27.9 APs in detecting small objects. With the longer training scheme, AdaMixer with ResNeXt-101-DCN and Swin-S reaches 49.5 and 51.3 AP. Our work sheds light on a simple, accurate, and fast converging architecture for query-based object detectors. The code is made available at https://github.com/MCG-NJU/AdaMixer

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arXiv2022

Exploring Contextual Word-level Style Relevance for Unsupervised Style Transfer

Unsupervised style transfer aims to change the style of an input sentence while preserving its original content without using parallel training data. In current dominant approaches, owing to the lack of fine-grained control on the influence from the target style,they are unable to yield desirable output sentences. In this paper, we propose a novel attentional sequence-to-sequence (Seq2seq) model that dynamically exploits the relevance of each output word to the target style for unsupervised style transfer. Specifically, we first pretrain a style classifier, where the relevance of each input word to the original style can be quantified via layer-wise relevance propagation. In a denoising auto-encoding manner, we train an attentional Seq2seq model to reconstruct input sentences and repredict word-level previously-quantified style relevance simultaneously. In this way, this model is endowed with the ability to automatically predict the style relevance of each output word. Then, we equip the decoder of this model with a neural style component to exploit the predicted wordlevel style relevance for better style transfer. Particularly, we fine-tune this model using a carefully-designed objective function involving style transfer, style relevance consistency, content preservation and fluency modeling loss terms. Experimental results show that our proposed model achieves state-of-the-art performance in terms of both transfer accuracy and content preservation.

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arXiv2022

Semi-Supervised Clustering with Contrastive Learning for Discovering New Intents

Most dialogue systems in real world rely on predefined intents and answers for QA service, so discovering potential intents from large corpus previously is really important for building such dialogue services. Considering that most scenarios have few intents known already and most intents waiting to be discovered, we focus on semi-supervised text clustering and try to make the proposed method benefit from labeled samples for better overall clustering performance. In this paper, we propose Deep Contrastive Semi-supervised Clustering (DCSC), which aims to cluster text samples in a semi-supervised way and provide grouped intents to operation staff. To make DCSC fully utilize the limited known intents, we propose a two-stage training procedure for DCSC, in which DCSC will be trained on both labeled samples and unlabeled samples, and achieve better text representation and clustering performance. We conduct experiments on two public datasets to compare our model with several popular methods, and the results show DCSC achieve best performance across all datasets and circumstances, indicating the effect of the improvements in our work.

cs.LG↗

arXiv2021

InsCLR: Improving Instance Retrieval with Self-Supervision

This work aims at improving instance retrieval with self-supervision. We find that fine-tuning using the recently developed self-supervised (SSL) learning methods, such as SimCLR and MoCo, fails to improve the performance of instance retrieval. In this work, we identify that the learnt representations for instance retrieval should be invariant to large variations in viewpoint and background etc., whereas self-augmented positives applied by the current SSL methods can not provide strong enough signals for learning robust instance-level representations. To overcome this problem, we propose InsCLR, a new SSL method that builds on the \textit{instance-level} contrast, to learn the intra-class invariance by dynamically mining meaningful pseudo positive samples from both mini-batches and a memory bank during training. Extensive experiments demonstrate that InsCLR achieves similar or even better performance than the state-of-the-art SSL methods on instance retrieval. Code is available at https://github.com/zeludeng/insclr.

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arXiv2021

Mutually-aware Sub-Graphs Differentiable Architecture Search

Differentiable architecture search is prevalent in the field of NAS because of its simplicity and efficiency, where two paradigms, multi-path algorithms and single-path methods, are dominated. Multi-path framework (e.g. DARTS) is intuitive but suffers from memory usage and training collapse. Single-path methods (e.g.GDAS and ProxylessNAS) mitigate the memory issue and shrink the gap between searching and evaluation but sacrifice the performance. In this paper, we propose a conceptually simple yet efficient method to bridge these two paradigms, referred as Mutually-aware Sub-Graphs Differentiable Architecture Search (MSG-DAS). The core of our framework is a differentiable Gumbel-TopK sampler that produces multiple mutually exclusive single-path sub-graphs. To alleviate the severer skip-connect issue brought by multiple sub-graphs setting, we propose a Dropblock-Identity module to stabilize the optimization. To make best use of the available models (super-net and sub-graphs), we introduce a memory-efficient super-net guidance distillation to improve training. The proposed framework strikes a balance between flexible memory usage and searching quality. We demonstrate the effectiveness of our methods on ImageNet and CIFAR10, where the searched models show a comparable performance as the most recent approaches.

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arXiv2021

A Closer Look at Few-Shot Video Classification: A New Baseline and Benchmark

The existing few-shot video classification methods often employ a meta-learning paradigm by designing customized temporal alignment module for similarity calculation. While significant progress has been made, these methods fail to focus on learning effective representations, and heavily rely on the ImageNet pre-training, which might be unreasonable for the few-shot recognition setting due to semantics overlap. In this paper, we aim to present an in-depth study on few-shot video classification by making three contributions. First, we perform a consistent comparative study on the existing metric-based methods to figure out their limitations in representation learning. Accordingly, we propose a simple classifier-based baseline without any temporal alignment that surprisingly outperforms the state-of-the-art meta-learning based methods. Second, we discover that there is a high correlation between the novel action class and the ImageNet object class, which is problematic in the few-shot recognition setting. Our results show that the performance of training from scratch drops significantly, which implies that the existing benchmarks cannot provide enough base data. Finally, we present a new benchmark with more base data to facilitate future few-shot video classification without pre-training. The code will be made available at https://github.com/MCG-NJU/FSL-Video.

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arXiv2021

WaveCNet: Wavelet Integrated CNNs to Suppress Aliasing Effect for Noise-Robust Image Classification

Though widely used in image classification, convolutional neural networks (CNNs) are prone to noise interruptions, i.e. the CNN output can be drastically changed by small image noise. To improve the noise robustness, we try to integrate CNNs with wavelet by replacing the common down-sampling (max-pooling, strided-convolution, and average pooling) with discrete wavelet transform (DWT). We firstly propose general DWT and inverse DWT (IDWT) layers applicable to various orthogonal and biorthogonal discrete wavelets like Haar, Daubechies, and Cohen, etc., and then design wavelet integrated CNNs (WaveCNets) by integrating DWT into the commonly used CNNs (VGG, ResNets, and DenseNet). During the down-sampling, WaveCNets apply DWT to decompose the feature maps into the low-frequency and high-frequency components. Containing the main information including the basic object structures, the low-frequency component is transmitted into the following layers to generate robust high-level features. The high-frequency components are dropped to remove most of the data noises. The experimental results show that %wavelet accelerates the CNN training, and WaveCNets achieve higher accuracy on ImageNet than various vanilla CNNs. We have also tested the performance of WaveCNets on the noisy version of ImageNet, ImageNet-C and six adversarial attacks, the results suggest that the proposed DWT/IDWT layers could provide better noise-robustness and adversarial robustness. When applying WaveCNets as backbones, the performance of object detectors (i.e., faster R-CNN and RetinaNet) on COCO detection dataset are consistently improved. We believe that suppression of aliasing effect, i.e. separation of low frequency and high frequency information, is the main advantages of our approach. The code of our DWT/IDWT layer and different WaveCNets are available at https://github.com/CVI-SZU/WaveCNet.

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