This paper presents E5, a family of state-of-the-art text embeddings that transfer well to a wide range of tasks. The model is trained in a contrastive manner with weak supervision signals from our curated large-scale text pair dataset (called CCPairs). E5 can be readily used as a general-purpose embedding model for any tasks requiring a single-vector representation of texts such as retrieval, clustering, and classification, achieving strong performance in both zero-shot and fine-tuned settings. We conduct extensive evaluations on 56 datasets from the BEIR and MTEB benchmarks. For zero-shot settings, E5 is the first model that outperforms the strong BM25 baseline on the BEIR retrieval benchmark without using any labeled data. When fine-tuned, E5 obtains the best results on the MTEB benchmark, beating existing embedding models with 40x more parameters.

我们建议学习使用隐式功能通过灵巧的手来产生抓握运动来操纵。通过连续的时间输入，该模型可以生成连续且平滑的抓握计划。我们命名了建议的模型连续掌握函数（CGF）。 CGF是通过使用3D人类演示的有条件变异自动编码器的生成建模来学习的。我们将首先通过运动重试将大规模的人类对象相互作用轨迹转换为机器人演示，然后使用这些演示训练CGF。在推断期间，我们使用CGF进行采样，以在模拟器中生成不同的抓握计划，并选择成功的抓握计划以转移到真实的机器人中。通过对不同人类数据的培训，我们的CGF允许概括来操纵多个对象。与以前的计划算法相比，CGF更有效，并且在转移到真正的Allegro手抓住的情况下，成功率显着提高。我们的项目页面位于https://jianglongye.com/cgf

Sign language recognition (SLR) aims to overcome the communication barrier for the people with deafness or the people with hard hearing. Most existing approaches can be typically divided into two lines, i.e., Skeleton-based and RGB-based methods, but both the two lines of methods have their limitations. RGB-based approaches usually overlook the fine-grained hand structure, while Skeleton-based methods do not take the facial expression into account. In attempts to address both limitations, we propose a new framework named Spatial-temporal Part-aware network (StepNet), based on RGB parts. As the name implies, StepNet consists of two modules: Part-level Spatial Modeling and Part-level Temporal Modeling. Particularly, without using any keypoint-level annotations, Part-level Spatial Modeling implicitly captures the appearance-based properties, such as hands and faces, in the feature space. On the other hand, Part-level Temporal Modeling captures the pertinent properties over time by implicitly mining the long-short term context. Extensive experiments show that our StepNet, thanks to Spatial-temporal modules, achieves competitive Top-1 Per-instance accuracy on three widely-used SLR benchmarks, i.e., 56.89% on WLASL, 77.2% on NMFs-CSL, and 77.1% on BOBSL. Moreover, the proposed method is compatible with the optical flow input, and can yield higher performance if fused. We hope that this work can serve as a preliminary step for the people with deafness.

Script is a kind of structured knowledge extracted from texts, which contains a sequence of events. Based on such knowledge, script event prediction aims to predict the subsequent event. To do so, two aspects should be considered for events, namely, event description (i.e., what the events should contain) and event encoding (i.e., how they should be encoded). Most existing methods describe an event by a verb together with only a few core arguments (i.e., subject, object, and indirect object), which are not precise. In addition, existing event encoders are limited to a fixed number of arguments, which are not flexible to deal with extra information. Thus, in this paper, we propose the Rich Event Prediction (REP) framework for script event prediction. Fundamentally, it is based on the proposed rich event description, which enriches the existing ones with three kinds of important information, namely, the senses of verbs, extra semantic roles, and types of participants. REP contains an event extractor to extract such information from texts. Based on the extracted rich information, a predictor then selects the most probable subsequent event. The core component of the predictor is a transformer-based event encoder to flexibly deal with an arbitrary number of arguments. Experimental results on the widely used Gigaword Corpus show the effectiveness of the proposed framework.

Recent progress on vision-language foundation models have brought significant advancement to building general-purpose robots. By using the pre-trained models to encode the scene and instructions as inputs for decision making, the instruction-conditioned policy can generalize across different objects and tasks. While this is encouraging, the policy still fails in most cases given an unseen task or environment. To adapt the policy to unseen tasks and environments, we explore a new paradigm on leveraging the pre-trained foundation models with Self-PLAY and Self-Describe (SPLAYD). When deploying the trained policy to a new task or a new environment, we first let the policy self-play with randomly generated instructions to record the demonstrations. While the execution could be wrong, we can use the pre-trained foundation models to accurately self-describe (i.e., re-label or classify) the demonstrations. This automatically provides new pairs of demonstration-instruction data for policy fine-tuning. We evaluate our method on a broad range of experiments with the focus on generalization on unseen objects, unseen tasks, unseen environments, and sim-to-real transfer. We show SPLAYD improves baselines by a large margin in all cases. Our project page is available at https://geyuying.github.io/SPLAYD/

We present the Group Propagation Vision Transformer (GPViT): a novel nonhierarchical (i.e. non-pyramidal) transformer model designed for general visual recognition with high-resolution features. High-resolution features (or tokens) are a natural fit for tasks that involve perceiving fine-grained details such as detection and segmentation, but exchanging global information between these features is expensive in memory and computation because of the way self-attention scales. We provide a highly efficient alternative Group Propagation Block (GP Block) to exchange global information. In each GP Block, features are first grouped together by a fixed number of learnable group tokens; we then perform Group Propagation where global information is exchanged between the grouped features; finally, global information in the updated grouped features is returned back to the image features through a transformer decoder. We evaluate GPViT on a variety of visual recognition tasks including image classification, semantic segmentation, object detection, and instance segmentation. Our method achieves significant performance gains over previous works across all tasks, especially on tasks that require high-resolution outputs, for example, our GPViT-L3 outperforms Swin Transformer-B by 2.0 mIoU on ADE20K semantic segmentation with only half as many parameters. Code and pre-trained models are available at https://github.com/ChenhongyiYang/GPViT .

This paper presents a new data augmentation algorithm for natural understanding tasks, called RPN:Random Position Noise algorithm.Due to the relative paucity of current text augmentation methods. Few of the extant methods apply to natural language understanding tasks for all sentence-level tasks.RPN applies the traditional augmentation on the original text to the word vector level. The RPN algorithm makes a substitution in one or several dimensions of some word vectors. As a result, the RPN can introduce a certain degree of perturbation to the sample and can adjust the range of perturbation on different tasks. The augmented samples are then used to give the model training.This makes the model more robust. In subsequent experiments, we found that adding RPN to the training or fine-tuning model resulted in a stable boost on all 8 natural language processing tasks, including TweetEval, CoLA, and SST-2 datasets, and more significant improvements than other data augmentation algorithms.The RPN algorithm applies to all sentence-level tasks for language understanding and is used in any deep learning model with a word embedding layer.

We revisit a simple Learning-from-Scratch baseline for visuo-motor control that uses data augmentation and a shallow ConvNet. We find that this baseline has competitive performance with recent methods that leverage frozen visual representations trained on large-scale vision datasets.

Poor sample efficiency continues to be the primary challenge for deployment of deep Reinforcement Learning (RL) algorithms for real-world applications, and in particular for visuo-motor control. Model-based RL has the potential to be highly sample efficient by concurrently learning a world model and using synthetic rollouts for planning and policy improvement. However, in practice, sample-efficient learning with model-based RL is bottlenecked by the exploration challenge. In this work, we find that leveraging just a handful of demonstrations can dramatically improve the sample-efficiency of model-based RL. Simply appending demonstrations to the interaction dataset, however, does not suffice. We identify key ingredients for leveraging demonstrations in model learning -- policy pretraining, targeted exploration, and oversampling of demonstration data -- which forms the three phases of our model-based RL framework. We empirically study three complex visuo-motor control domains and find that our method is 150%-250% more successful in completing sparse reward tasks compared to prior approaches in the low data regime (100K interaction steps, 5 demonstrations). Code and videos are available at: https://nicklashansen.github.io/modemrl

For the aerial manipulator that performs aerial work tasks, the actual operating environment it faces is very complex, and it is affected by internal and external multi-source disturbances. In this paper, to effectively improve the anti-disturbance control performance of the aerial manipulator, an adaptive neural network backstepping control method based on variable inertia parameter modeling is proposed. Firstly, for the intense internal coupling disturbance, we analyze and model it from the perspective of the generation mechanism of the coupling disturbance, and derive the dynamics model of the aerial manipulator system and the coupling disturbance model based on the variable inertia parameters. Through the proposed coupling disturbance model, we can compensate the strong coupling disturbance in a way of feedforward. Then, the adaptive neural network is proposed and applid to estimate and compensate the additional disturbances, and the closed-loop controller is designed based on the backstepping control method. Finally, we verify the correctness of the proposed coupling disturbance model through physical experiment under a large range motion of the manipulator. Two sets of comparative simulation results also prove the accurate estimation of the proposed adaptive neural network for additional disturbances and the effectiveness and superiority of the proposed control method.