arXiv subjects

Shizhe Chen

Publications and source records attributed to Shizhe Chen.

At least 37 records · Page 2Linked to original sources

arXiv2025

Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy

Generalizing language-conditioned robotic policies to new tasks remains a significant challenge, hampered by the lack of suitable simulation benchmarks. In this paper, we address this gap by introducing GemBench, a novel benchmark to assess generalization capabilities of vision-language robotic manipulation policies. GemBench incorporates seven general action primitives and four levels of generalization, spanning novel placements, rigid and articulated objects, and complex long-horizon tasks. We evaluate state-of-the-art approaches on GemBench and also introduce a new method. Our approach 3D-LOTUS leverages rich 3D information for action prediction conditioned on language. While 3D-LOTUS excels in both efficiency and performance on seen tasks, it struggles with novel tasks. To address this, we present 3D-LOTUS++, a framework that integrates 3D-LOTUS's motion planning capabilities with the task planning capabilities of LLMs and the object grounding accuracy of VLMs. 3D-LOTUS++ achieves state-of-the-art performance on novel tasks of GemBench, setting a new standard for generalization in robotic manipulation. The benchmark, codes and trained models are available at https://www.di.ens.fr/willow/research/gembench/.

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arXiv2025

NextBestPath: Efficient 3D Mapping of Unseen Environments

This work addresses the problem of active 3D mapping, where an agent must find an efficient trajectory to exhaustively reconstruct a new scene. Previous approaches mainly predict the next best view near the agent's location, which is prone to getting stuck in local areas. Additionally, existing indoor datasets are insufficient due to limited geometric complexity and inaccurate ground truth meshes. To overcome these limitations, we introduce a novel dataset AiMDoom with a map generator for the Doom video game, enabling to better benchmark active 3D mapping in diverse indoor environments. Moreover, we propose a new method we call next-best-path (NBP), which predicts long-term goals rather than focusing solely on short-sighted views. The model jointly predicts accumulated surface coverage gains for long-term goals and obstacle maps, allowing it to efficiently plan optimal paths with a unified model. By leveraging online data collection, data augmentation and curriculum learning, NBP significantly outperforms state-of-the-art methods on both the existing MP3D dataset and our AiMDoom dataset, achieving more efficient mapping in indoor environments of varying complexity.

cs.CV↗

arXiv2024

Conan-embedding: General Text Embedding with More and Better Negative Samples

With the growing popularity of RAG, the capabilities of embedding models are gaining increasing attention. Embedding models are primarily trained through contrastive loss learning, with negative examples being a key component. Previous work has proposed various hard negative mining strategies, but these strategies are typically employed as preprocessing steps. In this paper, we propose the conan-embedding model, which maximizes the utilization of more and higher-quality negative examples. Specifically, since the model's ability to handle preprocessed negative examples evolves during training, we propose dynamic hard negative mining method to expose the model to more challenging negative examples throughout the training process. Secondly, contrastive learning requires as many negative examples as possible but is limited by GPU memory constraints. Therefore, we use a Cross-GPU balancing Loss to provide more negative examples for embedding training and balance the batch size across multiple tasks. Moreover, we also discovered that the prompt-response pairs from LLMs can be used for embedding training. Our approach effectively enhances the capabilities of embedding models, currently ranking first on the Chinese leaderboard of Massive text embedding benchmark

cs.CL↗

arXiv2024

Think-Program-reCtify: 3D Situated Reasoning with Large Language Models

This work addresses the 3D situated reasoning task which aims to answer questions given egocentric observations in a 3D environment. The task remains challenging as it requires comprehensive 3D perception and complex reasoning skills. End-to-end models trained on supervised data for 3D situated reasoning suffer from data scarcity and generalization ability. Inspired by the recent success of leveraging large language models (LLMs) for visual reasoning, we propose LLM-TPC, a novel framework that leverages the planning, tool usage, and reflection capabilities of LLMs through a ThinkProgram-reCtify loop. The Think phase first decomposes the compositional question into a sequence of steps, and then the Program phase grounds each step to a piece of code and calls carefully designed 3D visual perception modules. Finally, the Rectify phase adjusts the plan and code if the program fails to execute. Experiments and analysis on the SQA3D benchmark demonstrate the effectiveness, interpretability and robustness of our method. Our code is publicly available at https://qingrongh.github.io/LLM-TPC/.

cs.CV↗

arXiv2024

Simultaneous clustering and estimation of additive shape invariant models for recurrent event data

Technological advancements have enabled the recording of spiking activities from large neuron ensembles, presenting an exciting yet challenging opportunity for statistical analysis. This project considers the challenges from a common type of neuroscience experiments, where randomized interventions are applied over the course of each trial. The objective is to identify groups of neurons with unique stimulation responses and estimate these responses. The observed data, however, comprise superpositions of neural responses to all stimuli, which is further complicated by varying response latencies across neurons. We introduce a novel additive shape invariant model that is capable of simultaneously accommodating multiple clusters, additive components, and unknown time-shifts. We establish conditions for the identifiability of model parameters, offering guidance for the design of future experiments. We examine the properties of the proposed algorithm through simulation studies, and apply the proposed method on neural data collected in mice.

stat.AP↗

arXiv2024

SUGAR: Pre-training 3D Visual Representations for Robotics

Learning generalizable visual representations from Internet data has yielded promising results for robotics. Yet, prevailing approaches focus on pre-training 2D representations, being sub-optimal to deal with occlusions and accurately localize objects in complex 3D scenes. Meanwhile, 3D representation learning has been limited to single-object understanding. To address these limitations, we introduce a novel 3D pre-training framework for robotics named SUGAR that captures semantic, geometric and affordance properties of objects through 3D point clouds. We underscore the importance of cluttered scenes in 3D representation learning, and automatically construct a multi-object dataset benefiting from cost-free supervision in simulation. SUGAR employs a versatile transformer-based model to jointly address five pre-training tasks, namely cross-modal knowledge distillation for semantic learning, masked point modeling to understand geometry structures, grasping pose synthesis for object affordance, 3D instance segmentation and referring expression grounding to analyze cluttered scenes. We evaluate our learned representation on three robotic-related tasks, namely, zero-shot 3D object recognition, referring expression grounding, and language-driven robotic manipulation. Experimental results show that SUGAR's 3D representation outperforms state-of-the-art 2D and 3D representations.

cs.CV↗

arXiv2023

PolarNet: 3D Point Clouds for Language-Guided Robotic Manipulation

The ability for robots to comprehend and execute manipulation tasks based on natural language instructions is a long-term goal in robotics. The dominant approaches for language-guided manipulation use 2D image representations, which face difficulties in combining multi-view cameras and inferring precise 3D positions and relationships. To address these limitations, we propose a 3D point cloud based policy called PolarNet for language-guided manipulation. It leverages carefully designed point cloud inputs, efficient point cloud encoders, and multimodal transformers to learn 3D point cloud representations and integrate them with language instructions for action prediction. PolarNet is shown to be effective and data efficient in a variety of experiments conducted on the RLBench benchmark. It outperforms state-of-the-art 2D and 3D approaches in both single-task and multi-task learning. It also achieves promising results on a real robot.

cs.RO↗

arXiv2023

TeViS:Translating Text Synopses to Video Storyboards

A video storyboard is a roadmap for video creation which consists of shot-by-shot images to visualize key plots in a text synopsis. Creating video storyboards, however, remains challenging which not only requires cross-modal association between high-level texts and images but also demands long-term reasoning to make transitions smooth across shots. In this paper, we propose a new task called Text synopsis to Video Storyboard (TeViS) which aims to retrieve an ordered sequence of images as the video storyboard to visualize the text synopsis. We construct a MovieNet-TeViS dataset based on the public MovieNet dataset. It contains 10K text synopses each paired with keyframes manually selected from corresponding movies by considering both relevance and cinematic coherence. To benchmark the task, we present strong CLIP-based baselines and a novel VQ-Trans. VQ-Trans first encodes text synopsis and images into a joint embedding space and uses vector quantization (VQ) to improve the visual representation. Then, it auto-regressively generates a sequence of visual features for retrieval and ordering. Experimental results demonstrate that VQ-Trans significantly outperforms prior methods and the CLIP-based baselines. Nevertheless, there is still a large gap compared to human performance suggesting room for promising future work. The code and data are available at: \url{https://ruc-aimind.github.io/projects/TeViS/}

cs.CV↗

arXiv2023

Explore and Tell: Embodied Visual Captioning in 3D Environments

While current visual captioning models have achieved impressive performance, they often assume that the image is well-captured and provides a complete view of the scene. In real-world scenarios, however, a single image may not offer a good viewpoint, hindering fine-grained scene understanding. To overcome this limitation, we propose a novel task called Embodied Captioning, which equips visual captioning models with navigation capabilities, enabling them to actively explore the scene and reduce visual ambiguity from suboptimal viewpoints. Specifically, starting at a random viewpoint, an agent must navigate the environment to gather information from different viewpoints and generate a comprehensive paragraph describing all objects in the scene. To support this task, we build the ET-Cap dataset with Kubric simulator, consisting of 10K 3D scenes with cluttered objects and three annotated paragraphs per scene. We propose a Cascade Embodied Captioning model (CaBOT), which comprises of a navigator and a captioner, to tackle this task. The navigator predicts which actions to take in the environment, while the captioner generates a paragraph description based on the whole navigation trajectory. Extensive experiments demonstrate that our model outperforms other carefully designed baselines. Our dataset, codes and models are available at https://aim3-ruc.github.io/ExploreAndTell.

cs.CV↗

arXiv2023

History Aware Multimodal Transformer for Vision-and-Language Navigation

Vision-and-language navigation (VLN) aims to build autonomous visual agents that follow instructions and navigate in real scenes. To remember previously visited locations and actions taken, most approaches to VLN implement memory using recurrent states. Instead, we introduce a History Aware Multimodal Transformer (HAMT) to incorporate a long-horizon history into multimodal decision making. HAMT efficiently encodes all the past panoramic observations via a hierarchical vision transformer (ViT), which first encodes individual images with ViT, then models spatial relation between images in a panoramic observation and finally takes into account temporal relation between panoramas in the history. It, then, jointly combines text, history and current observation to predict the next action. We first train HAMT end-to-end using several proxy tasks including single step action prediction and spatial relation prediction, and then use reinforcement learning to further improve the navigation policy. HAMT achieves new state of the art on a broad range of VLN tasks, including VLN with fine-grained instructions (R2R, RxR), high-level instructions (R2R-Last, REVERIE), dialogs (CVDN) as well as long-horizon VLN (R4R, R2R-Back). We demonstrate HAMT to be particularly effective for navigation tasks with longer trajectories.

cs.CV↗

arXiv2023

Object Goal Navigation with Recursive Implicit Maps

Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information for object-oriented exploration. On the other hand, end-to-end learning methods alleviate manual map design and predict actions using implicit representations. Such methods, however, lack an explicit notion of geometry and may have limited ability to encode navigation history. In this work, we propose an implicit spatial map for object goal navigation. Our implicit map is recursively updated with new observations at each step using a transformer. To encourage spatial reasoning, we introduce auxiliary tasks and train our model to reconstruct explicit maps as well as to predict visual features, semantic labels and actions. Our method significantly outperforms the state of the art on the challenging MP3D dataset and generalizes well to the HM3D dataset. We successfully deploy our model on a real robot and achieve encouraging object goal navigation results in real scenes using only a few real-world demonstrations. Code, trained models and videos are available at \url{https://www.di.ens.fr/willow/research/onav_rim/}.

cs.CV↗

arXiv2023

Robust Visual Sim-to-Real Transfer for Robotic Manipulation

Learning visuomotor policies in simulation is much safer and cheaper than in the real world. However, due to discrepancies between the simulated and real data, simulator-trained policies often fail when transferred to real robots. One common approach to bridge the visual sim-to-real domain gap is domain randomization (DR). While previous work mainly evaluates DR for disembodied tasks, such as pose estimation and object detection, here we systematically explore visual domain randomization methods and benchmark them on a rich set of challenging robotic manipulation tasks. In particular, we propose an off-line proxy task of cube localization to select DR parameters for texture randomization, lighting randomization, variations of object colors and camera parameters. Notably, we demonstrate that DR parameters have similar impact on our off-line proxy task and on-line policies. We, hence, use off-line optimized DR parameters to train visuomotor policies in simulation and directly apply such policies to a real robot. Our approach achieves 93% success rate on average when tested on a diverse set of challenging manipulation tasks. Moreover, we evaluate the robustness of policies to visual variations in real scenes and show that our simulator-trained policies outperform policies learned using real but limited data. Code, simulation environment, real robot datasets and trained models are available at https://www.di.ens.fr/willow/research/robust_s2r/.

cs.RO↗

arXiv2023

InfoMetIC: An Informative Metric for Reference-free Image Caption Evaluation

Automatic image captioning evaluation is critical for benchmarking and promoting advances in image captioning research. Existing metrics only provide a single score to measure caption qualities, which are less explainable and informative. Instead, we humans can easily identify the problems of captions in details, e.g., which words are inaccurate and which salient objects are not described, and then rate the caption quality. To support such informative feedback, we propose an Informative Metric for Reference-free Image Caption evaluation (InfoMetIC). Given an image and a caption, InfoMetIC is able to report incorrect words and unmentioned image regions at fine-grained level, and also provide a text precision score, a vision recall score and an overall quality score at coarse-grained level. The coarse-grained score of InfoMetIC achieves significantly better correlation with human judgements than existing metrics on multiple benchmarks. We also construct a token-level evaluation dataset and demonstrate the effectiveness of InfoMetIC in fine-grained evaluation. Our code and datasets are publicly available at https://github.com/HAWLYQ/InfoMetIC.

cs.CV↗

arXiv2023

gSDF: Geometry-Driven Signed Distance Functions for 3D Hand-Object Reconstruction

Signed distance functions (SDFs) is an attractive framework that has recently shown promising results for 3D shape reconstruction from images. SDFs seamlessly generalize to different shape resolutions and topologies but lack explicit modelling of the underlying 3D geometry. In this work, we exploit the hand structure and use it as guidance for SDF-based shape reconstruction. In particular, we address reconstruction of hands and manipulated objects from monocular RGB images. To this end, we estimate poses of hands and objects and use them to guide 3D reconstruction. More specifically, we predict kinematic chains of pose transformations and align SDFs with highly-articulated hand poses. We improve the visual features of 3D points with geometry alignment and further leverage temporal information to enhance the robustness to occlusion and motion blurs. We conduct extensive experiments on the challenging ObMan and DexYCB benchmarks and demonstrate significant improvements of the proposed method over the state of the art.

cs.CV↗

arXiv2023

Video Captioning with Guidance of Multimodal Latent Topics

The topic diversity of open-domain videos leads to various vocabularies and linguistic expressions in describing video contents, and therefore, makes the video captioning task even more challenging. In this paper, we propose an unified caption framework, M&M TGM, which mines multimodal topics in unsupervised fashion from data and guides the caption decoder with these topics. Compared to pre-defined topics, the mined multimodal topics are more semantically and visually coherent and can reflect the topic distribution of videos better. We formulate the topic-aware caption generation as a multi-task learning problem, in which we add a parallel task, topic prediction, in addition to the caption task. For the topic prediction task, we use the mined topics as the teacher to train a student topic prediction model, which learns to predict the latent topics from multimodal contents of videos. The topic prediction provides intermediate supervision to the learning process. As for the caption task, we propose a novel topic-aware decoder to generate more accurate and detailed video descriptions with the guidance from latent topics. The entire learning procedure is end-to-end and it optimizes both tasks simultaneously. The results from extensive experiments conducted on the MSR-VTT and Youtube2Text datasets demonstrate the effectiveness of our proposed model. M&M TGM not only outperforms prior state-of-the-art methods on multiple evaluation metrics and on both benchmark datasets, but also achieves better generalization ability.

cs.CV↗

arXiv2023

An instrumental variable method for point processes: generalised Wald estimation based on deconvolution

Point processes are probabilistic tools for modeling event data. While there exists a fast-growing literature studying the relationships between point processes, it remains unexplored how such relationships connect to causal effects. In the presence of unmeasured confounders, parameters from point process models do not necessarily have causal interpretations. We propose an instrumental variable method for causal inference with point process treatment and outcome. We define causal quantities based on potential outcomes and establish nonparametric identification results with a binary instrumental variable. We extend the traditional Wald estimation to deal with point process treatment and outcome, showing that it should be performed after a Fourier transform of the intention-to-treat effects on the treatment and outcome and thus takes the form of deconvolution. We term this as the generalised Wald estimation and propose an estimation strategy based on well-established deconvolution methods.

stat.ME↗

arXiv2022

Instruction-driven history-aware policies for robotic manipulations

In human environments, robots are expected to accomplish a variety of manipulation tasks given simple natural language instructions. Yet, robotic manipulation is extremely challenging as it requires fine-grained motor control, long-term memory as well as generalization to previously unseen tasks and environments. To address these challenges, we propose a unified transformer-based approach that takes into account multiple inputs. In particular, our transformer architecture integrates (i) natural language instructions and (ii) multi-view scene observations while (iii) keeping track of the full history of observations and actions. Such an approach enables learning dependencies between history and instructions and improves manipulation precision using multiple views. We evaluate our method on the challenging RLBench benchmark and on a real-world robot. Notably, our approach scales to 74 diverse RLBench tasks and outperforms the state of the art. We also address instruction-conditioned tasks and demonstrate excellent generalization to previously unseen variations.

cs.RO↗

arXiv2022

Language Conditioned Spatial Relation Reasoning for 3D Object Grounding

Localizing objects in 3D scenes based on natural language requires understanding and reasoning about spatial relations. In particular, it is often crucial to distinguish similar objects referred by the text, such as "the left most chair" and "a chair next to the window". In this work we propose a language-conditioned transformer model for grounding 3D objects and their spatial relations. To this end, we design a spatial self-attention layer that accounts for relative distances and orientations between objects in input 3D point clouds. Training such a layer with visual and language inputs enables to disambiguate spatial relations and to localize objects referred by the text. To facilitate the cross-modal learning of relations, we further propose a teacher-student approach where the teacher model is first trained using ground-truth object labels, and then helps to train a student model using point cloud inputs. We perform ablation studies showing advantages of our approach. We also demonstrate our model to significantly outperform the state of the art on the challenging Nr3D, Sr3D and ScanRefer 3D object grounding datasets.

cs.CV↗