arXiv subjects

Ping Luo

Publications and source records attributed to Ping Luo.

At least 271 records · Page 15Linked to original sources

arXiv2023

EmbodiedGPT: Vision-Language Pre-Training via Embodied Chain of Thought

Embodied AI is a crucial frontier in robotics, capable of planning and executing action sequences for robots to accomplish long-horizon tasks in physical environments. In this work, we introduce EmbodiedGPT, an end-to-end multi-modal foundation model for embodied AI, empowering embodied agents with multi-modal understanding and execution capabilities. To achieve this, we have made the following efforts: (i) We craft a large-scale embodied planning dataset, termed EgoCOT. The dataset consists of carefully selected videos from the Ego4D dataset, along with corresponding high-quality language instructions. Specifically, we generate a sequence of sub-goals with the "Chain of Thoughts" mode for effective embodied planning. (ii) We introduce an efficient training approach to EmbodiedGPT for high-quality plan generation, by adapting a 7B large language model (LLM) to the EgoCOT dataset via prefix tuning. (iii) We introduce a paradigm for extracting task-related features from LLM-generated planning queries to form a closed loop between high-level planning and low-level control. Extensive experiments show the effectiveness of EmbodiedGPT on embodied tasks, including embodied planning, embodied control, visual captioning, and visual question answering. Notably, EmbodiedGPT significantly enhances the success rate of the embodied control task by extracting more effective features. It has achieved a remarkable 1.6 times increase in success rate on the Franka Kitchen benchmark and a 1.3 times increase on the Meta-World benchmark, compared to the BLIP-2 baseline fine-tuned with the Ego4D dataset.

cs.RO↗

arXiv2023

Graph-based Topology Reasoning for Driving Scenes

Understanding the road genome is essential to realize autonomous driving. This highly intelligent problem contains two aspects - the connection relationship of lanes, and the assignment relationship between lanes and traffic elements, where a comprehensive topology reasoning method is vacant. On one hand, previous map learning techniques struggle in deriving lane connectivity with segmentation or laneline paradigms; or prior lane topology-oriented approaches focus on centerline detection and neglect the interaction modeling. On the other hand, the traffic element to lane assignment problem is limited in the image domain, leaving how to construct the correspondence from two views an unexplored challenge. To address these issues, we present TopoNet, the first end-to-end framework capable of abstracting traffic knowledge beyond conventional perception tasks. To capture the driving scene topology, we introduce three key designs: (1) an embedding module to incorporate semantic knowledge from 2D elements into a unified feature space; (2) a curated scene graph neural network to model relationships and enable feature interaction inside the network; (3) instead of transmitting messages arbitrarily, a scene knowledge graph is devised to differentiate prior knowledge from various types of the road genome. We evaluate TopoNet on the challenging scene understanding benchmark, OpenLane-V2, where our approach outperforms all previous works by a great margin on all perceptual and topological metrics. The code is released at https://github.com/OpenDriveLab/TopoNet

cs.CV↗

arXiv2023

Beyond One-to-One: Rethinking the Referring Image Segmentation

Referring image segmentation aims to segment the target object referred by a natural language expression. However, previous methods rely on the strong assumption that one sentence must describe one target in the image, which is often not the case in real-world applications. As a result, such methods fail when the expressions refer to either no objects or multiple objects. In this paper, we address this issue from two perspectives. First, we propose a Dual Multi-Modal Interaction (DMMI) Network, which contains two decoder branches and enables information flow in two directions. In the text-to-image decoder, text embedding is utilized to query the visual feature and localize the corresponding target. Meanwhile, the image-to-text decoder is implemented to reconstruct the erased entity-phrase conditioned on the visual feature. In this way, visual features are encouraged to contain the critical semantic information about target entity, which supports the accurate segmentation in the text-to-image decoder in turn. Secondly, we collect a new challenging but realistic dataset called Ref-ZOM, which includes image-text pairs under different settings. Extensive experiments demonstrate our method achieves state-of-the-art performance on different datasets, and the Ref-ZOM-trained model performs well on various types of text inputs. Codes and datasets are available at https://github.com/toggle1995/RIS-DMMI.

cs.CV↗

arXiv2023

DiffusionDet: Diffusion Model for Object Detection

We propose DiffusionDet, a new framework that formulates object detection as a denoising diffusion process from noisy boxes to object boxes. During the training stage, object boxes diffuse from ground-truth boxes to random distribution, and the model learns to reverse this noising process. In inference, the model refines a set of randomly generated boxes to the output results in a progressive way. Our work possesses an appealing property of flexibility, which enables the dynamic number of boxes and iterative evaluation. The extensive experiments on the standard benchmarks show that DiffusionDet achieves favorable performance compared to previous well-established detectors. For example, DiffusionDet achieves 5.3 AP and 4.8 AP gains when evaluated with more boxes and iteration steps, under a zero-shot transfer setting from COCO to CrowdHuman. Our code is available at https://github.com/ShoufaChen/DiffusionDet.

cs.CV↗

arXiv2023

Universal Instance Perception as Object Discovery and Retrieval

All instance perception tasks aim at finding certain objects specified by some queries such as category names, language expressions, and target annotations, but this complete field has been split into multiple independent subtasks. In this work, we present a universal instance perception model of the next generation, termed UNINEXT. UNINEXT reformulates diverse instance perception tasks into a unified object discovery and retrieval paradigm and can flexibly perceive different types of objects by simply changing the input prompts. This unified formulation brings the following benefits: (1) enormous data from different tasks and label vocabularies can be exploited for jointly training general instance-level representations, which is especially beneficial for tasks lacking in training data. (2) the unified model is parameter-efficient and can save redundant computation when handling multiple tasks simultaneously. UNINEXT shows superior performance on 20 challenging benchmarks from 10 instance-level tasks including classical image-level tasks (object detection and instance segmentation), vision-and-language tasks (referring expression comprehension and segmentation), and six video-level object tracking tasks. Code is available at https://github.com/MasterBin-IIAU/UNINEXT.

cs.CV↗

arXiv2023

RIGID: Recurrent GAN Inversion and Editing of Real Face Videos

GAN inversion is indispensable for applying the powerful editability of GAN to real images. However, existing methods invert video frames individually often leading to undesired inconsistent results over time. In this paper, we propose a unified recurrent framework, named \textbf{R}ecurrent v\textbf{I}deo \textbf{G}AN \textbf{I}nversion and e\textbf{D}iting (RIGID), to explicitly and simultaneously enforce temporally coherent GAN inversion and facial editing of real videos. Our approach models the temporal relations between current and previous frames from three aspects. To enable a faithful real video reconstruction, we first maximize the inversion fidelity and consistency by learning a temporal compensated latent code. Second, we observe incoherent noises lie in the high-frequency domain that can be disentangled from the latent space. Third, to remove the inconsistency after attribute manipulation, we propose an \textit{in-between frame composition constraint} such that the arbitrary frame must be a direct composite of its neighboring frames. Our unified framework learns the inherent coherence between input frames in an end-to-end manner, and therefore it is agnostic to a specific attribute and can be applied to arbitrary editing of the same video without re-training. Extensive experiments demonstrate that RIGID outperforms state-of-the-art methods qualitatively and quantitatively in both inversion and editing tasks. The deliverables can be found in \url{https://cnnlstm.github.io/RIGID}

cs.CV↗

arXiv2023

RestoreFormer++: Towards Real-World Blind Face Restoration from Undegraded Key-Value Pairs

Blind face restoration aims at recovering high-quality face images from those with unknown degradations. Current algorithms mainly introduce priors to complement high-quality details and achieve impressive progress. However, most of these algorithms ignore abundant contextual information in the face and its interplay with the priors, leading to sub-optimal performance. Moreover, they pay less attention to the gap between the synthetic and real-world scenarios, limiting the robustness and generalization to real-world applications. In this work, we propose RestoreFormer++, which on the one hand introduces fully-spatial attention mechanisms to model the contextual information and the interplay with the priors, and on the other hand, explores an extending degrading model to help generate more realistic degraded face images to alleviate the synthetic-to-real-world gap. Compared with current algorithms, RestoreFormer++ has several crucial benefits. First, instead of using a multi-head self-attention mechanism like the traditional visual transformer, we introduce multi-head cross-attention over multi-scale features to fully explore spatial interactions between corrupted information and high-quality priors. In this way, it can facilitate RestoreFormer++ to restore face images with higher realness and fidelity. Second, in contrast to the recognition-oriented dictionary, we learn a reconstruction-oriented dictionary as priors, which contains more diverse high-quality facial details and better accords with the restoration target. Third, we introduce an extending degrading model that contains more realistic degraded scenarios for training data synthesizing, and thus helps to enhance the robustness and generalization of our RestoreFormer++ model. Extensive experiments show that RestoreFormer++ outperforms state-of-the-art algorithms on both synthetic and real-world datasets.

cs.CV↗

arXiv2023

Foundation Model is Efficient Multimodal Multitask Model Selector

This paper investigates an under-explored but important problem: given a collection of pre-trained neural networks, predicting their performance on each multi-modal task without fine-tuning them, such as image recognition, referring, captioning, visual question answering, and text question answering. A brute-force approach is to finetune all models on all target datasets, bringing high computational costs. Although recent-advanced approaches employed lightweight metrics to measure models' transferability,they often depend heavily on the prior knowledge of a single task, making them inapplicable in a multi-modal multi-task scenario. To tackle this issue, we propose an efficient multi-task model selector (EMMS), which employs large-scale foundation models to transform diverse label formats such as categories, texts, and bounding boxes of different downstream tasks into a unified noisy label embedding. EMMS can estimate a model's transferability through a simple weighted linear regression, which can be efficiently solved by an alternating minimization algorithm with a convergence guarantee. Extensive experiments on 5 downstream tasks with 24 datasets show that EMMS is fast, effective, and generic enough to assess the transferability of pre-trained models, making it the first model selection method in the multi-task scenario. For instance, compared with the state-of-the-art method LogME enhanced by our label embeddings, EMMS achieves 9.0\%, 26.3\%, 20.1\%, 54.8\%, 12.2\% performance gain on image recognition, referring, captioning, visual question answering, and text question answering, while bringing 5.13x, 6.29x, 3.59x, 6.19x, and 5.66x speedup in wall-clock time, respectively. The code is available at https://github.com/OpenGVLab/Multitask-Model-Selector.

cs.LG↗

arXiv2023

Context Autoencoder for Self-Supervised Representation Learning

We present a novel masked image modeling (MIM) approach, context autoencoder (CAE), for self-supervised representation pretraining. We pretrain an encoder by making predictions in the encoded representation space. The pretraining tasks include two tasks: masked representation prediction - predict the representations for the masked patches, and masked patch reconstruction - reconstruct the masked patches. The network is an encoder-regressor-decoder architecture: the encoder takes the visible patches as input; the regressor predicts the representations of the masked patches, which are expected to be aligned with the representations computed from the encoder, using the representations of visible patches and the positions of visible and masked patches; the decoder reconstructs the masked patches from the predicted encoded representations. The CAE design encourages the separation of learning the encoder (representation) from completing the pertaining tasks: masked representation prediction and masked patch reconstruction tasks, and making predictions in the encoded representation space empirically shows the benefit to representation learning. We demonstrate the effectiveness of our CAE through superior transfer performance in downstream tasks: semantic segmentation, object detection and instance segmentation, and classification. The code will be available at https://github.com/Atten4Vis/CAE.

cs.CV↗

arXiv2023

Exploring Transformers for Open-world Instance Segmentation

Open-world instance segmentation is a rising task, which aims to segment all objects in the image by learning from a limited number of base-category objects. This task is challenging, as the number of unseen categories could be hundreds of times larger than that of seen categories. Recently, the DETR-like models have been extensively studied in the closed world while stay unexplored in the open world. In this paper, we utilize the Transformer for open-world instance segmentation and present SWORD. Firstly, we introduce to attach the stop-gradient operation before classification head and further add IoU heads for discovering novel objects. We demonstrate that a simple stop-gradient operation not only prevents the novel objects from being suppressed as background, but also allows the network to enjoy the merit of heuristic label assignment. Secondly, we propose a novel contrastive learning framework to enlarge the representations between objects and background. Specifically, we maintain a universal object queue to obtain the object center, and dynamically select positive and negative samples from the object queries for contrastive learning. While the previous works only focus on pursuing average recall and neglect average precision, we show the prominence of SWORD by giving consideration to both criteria. Our models achieve state-of-the-art performance in various open-world cross-category and cross-dataset generalizations. Particularly, in VOC to non-VOC setup, our method sets new state-of-the-art results of 40.0% on ARb100 and 34.9% on ARm100. For COCO to UVO generalization, SWORD significantly outperforms the previous best open-world model by 5.9% on APm and 8.1% on ARm100.

cs.CV↗

arXiv2023

ChiPFormer: Transferable Chip Placement via Offline Decision Transformer

Placement is a critical step in modern chip design, aiming to determine the positions of circuit modules on the chip canvas. Recent works have shown that reinforcement learning (RL) can improve human performance in chip placement. However, such an RL-based approach suffers from long training time and low transfer ability in unseen chip circuits. To resolve these challenges, we cast the chip placement as an offline RL formulation and present ChiPFormer that enables learning a transferable placement policy from fixed offline data. ChiPFormer has several advantages that prior arts do not have. First, ChiPFormer can exploit offline placement designs to learn transferable policies more efficiently in a multi-task setting. Second, ChiPFormer can promote effective finetuning for unseen chip circuits, reducing the placement runtime from hours to minutes. Third, extensive experiments on 32 chip circuits demonstrate that ChiPFormer achieves significantly better placement quality while reducing the runtime by 10x compared to recent state-of-the-art approaches in both public benchmarks and realistic industrial tasks. The deliverables are released at https://sites.google.com/view/chipformer/home.

cs.LG↗

arXiv2023

Dense Distinct Query for End-to-End Object Detection

One-to-one label assignment in object detection has successfully obviated the need for non-maximum suppression (NMS) as postprocessing and makes the pipeline end-to-end. However, it triggers a new dilemma as the widely used sparse queries cannot guarantee a high recall, while dense queries inevitably bring more similar queries and encounter optimization difficulties. As both sparse and dense queries are problematic, then what are the expected queries in end-to-end object detection? This paper shows that the solution should be Dense Distinct Queries (DDQ). Concretely, we first lay dense queries like traditional detectors and then select distinct ones for one-to-one assignments. DDQ blends the advantages of traditional and recent end-to-end detectors and significantly improves the performance of various detectors including FCN, R-CNN, and DETRs. Most impressively, DDQ-DETR achieves 52.1 AP on MS-COCO dataset within 12 epochs using a ResNet-50 backbone, outperforming all existing detectors in the same setting. DDQ also shares the benefit of end-to-end detectors in crowded scenes and achieves 93.8 AP on CrowdHuman. We hope DDQ can inspire researchers to consider the complementarity between traditional methods and end-to-end detectors. The source code can be found at \url{https://github.com/jshilong/DDQ}.

cs.CV↗

arXiv2023

Scene as Occupancy

Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene into structured grid map with semantic labels per cell, termed as 3D Occupancy, would be desirable. Compared to the form of bounding box, a key insight behind occupancy is that it could capture the fine-grained details of critical obstacles in the scene, and thereby facilitate subsequent tasks. Prior or concurrent literature mainly concentrate on a single scene completion task, where we might argue that the potential of this occupancy representation might obsess broader impact. In this paper, we propose OccNet, a multi-view vision-centric pipeline with a cascade and temporal voxel decoder to reconstruct 3D occupancy. At the core of OccNet is a general occupancy embedding to represent 3D physical world. Such a descriptor could be applied towards a wide span of driving tasks, including detection, segmentation and planning. To validate the effectiveness of this new representation and our proposed algorithm, we propose OpenOcc, the first dense high-quality 3D occupancy benchmark built on top of nuScenes. Empirical experiments show that there are evident performance gain across multiple tasks, e.g., motion planning could witness a collision rate reduction by 15%-58%, demonstrating the superiority of our method.

cs.CV↗

arXiv2023

Align, Adapt and Inject: Sound-guided Unified Image Generation

Text-guided image generation has witnessed unprecedented progress due to the development of diffusion models. Beyond text and image, sound is a vital element within the sphere of human perception, offering vivid representations and naturally coinciding with corresponding scenes. Taking advantage of sound therefore presents a promising avenue for exploration within image generation research. However, the relationship between audio and image supervision remains significantly underdeveloped, and the scarcity of related, high-quality datasets brings further obstacles. In this paper, we propose a unified framework 'Align, Adapt, and Inject' (AAI) for sound-guided image generation, editing, and stylization. In particular, our method adapts input sound into a sound token, like an ordinary word, which can plug and play with existing powerful diffusion-based Text-to-Image (T2I) models. Specifically, we first train a multi-modal encoder to align audio representation with the pre-trained textual manifold and visual manifold, respectively. Then, we propose the audio adapter to adapt audio representation into an audio token enriched with specific semantics, which can be injected into a frozen T2I model flexibly. In this way, we are able to extract the dynamic information of varied sounds, while utilizing the formidable capability of existing T2I models to facilitate sound-guided image generation, editing, and stylization in a convenient and cost-effective manner. The experiment results confirm that our proposed AAI outperforms other text and sound-guided state-of-the-art methods. And our aligned multi-modal encoder is also competitive with other approaches in the audio-visual retrieval and audio-text retrieval tasks.

cs.GR↗

arXiv2023

LVLM-eHub: A Comprehensive Evaluation Benchmark for Large Vision-Language Models

Large Vision-Language Models (LVLMs) have recently played a dominant role in multimodal vision-language learning. Despite the great success, it lacks a holistic evaluation of their efficacy. This paper presents a comprehensive evaluation of publicly available large multimodal models by building a LVLM evaluation Hub (LVLM-eHub). Our LVLM-eHub consists of $8$ representative LVLMs such as InstructBLIP and MiniGPT-4, which are thoroughly evaluated by a quantitative capability evaluation and an online arena platform. The former evaluates $6$ categories of multimodal capabilities of LVLMs such as visual question answering and embodied artificial intelligence on $47$ standard text-related visual benchmarks, while the latter provides the user-level evaluation of LVLMs in an open-world question-answering scenario. The study reveals several innovative findings. First, instruction-tuned LVLM with massive in-domain data such as InstructBLIP heavily overfits many existing tasks, generalizing poorly in the open-world scenario. Second, instruction-tuned LVLM with moderate instruction-following data may result in object hallucination issues (i.e., generate objects that are inconsistent with target images in the descriptions). It either makes the current evaluation metric such as CIDEr for image captioning ineffective or generates wrong answers. Third, employing a multi-turn reasoning evaluation framework can mitigate the issue of object hallucination, shedding light on developing an effective pipeline for LVLM evaluation. The findings provide a foundational framework for the conception and assessment of innovative strategies aimed at enhancing zero-shot multimodal techniques. Our LVLM-eHub will be available at https://github.com/OpenGVLab/Multi-Modality-Arena

cs.CV↗

arXiv2023

MultiModal-GPT: A Vision and Language Model for Dialogue with Humans

We present a vision and language model named MultiModal-GPT to conduct multi-round dialogue with humans. MultiModal-GPT can follow various instructions from humans, such as generating a detailed caption, counting the number of interested objects, and answering general questions from users. MultiModal-GPT is parameter-efficiently fine-tuned from OpenFlamingo, with Low-rank Adapter (LoRA) added both in the cross-attention part and the self-attention part of the language model. We first construct instruction templates with vision and language data for multi-modality instruction tuning to make the model understand and follow human instructions. We find the quality of training data is vital for the dialogue performance, where few data containing short answers can lead the model to respond shortly to any instructions. To further enhance the ability to chat with humans of the MultiModal-GPT, we utilize language-only instruction-following data to train the MultiModal-GPT jointly. The joint training of language-only and visual-language instructions with the \emph{same} instruction template effectively improves dialogue performance. Various demos show the ability of continuous dialogue of MultiModal-GPT with humans. Code, dataset, and demo are at https://github.com/open-mmlab/Multimodal-GPT

cs.CV↗

arXiv2023

InternGPT: Solving Vision-Centric Tasks by Interacting with ChatGPT Beyond Language

We present an interactive visual framework named InternGPT, or iGPT for short. The framework integrates chatbots that have planning and reasoning capabilities, such as ChatGPT, with non-verbal instructions like pointing movements that enable users to directly manipulate images or videos on the screen. Pointing (including gestures, cursors, etc.) movements can provide more flexibility and precision in performing vision-centric tasks that require fine-grained control, editing, and generation of visual content. The name InternGPT stands for \textbf{inter}action, \textbf{n}onverbal, and \textbf{chat}bots. Different from existing interactive systems that rely on pure language, by incorporating pointing instructions, the proposed iGPT significantly improves the efficiency of communication between users and chatbots, as well as the accuracy of chatbots in vision-centric tasks, especially in complicated visual scenarios where the number of objects is greater than 2. Additionally, in iGPT, an auxiliary control mechanism is used to improve the control capability of LLM, and a large vision-language model termed Husky is fine-tuned for high-quality multi-modal dialogue (impressing ChatGPT-3.5-turbo with 93.89\% GPT-4 Quality). We hope this work can spark new ideas and directions for future interactive visual systems. Welcome to watch the code at https://github.com/OpenGVLab/InternGPT.

cs.CV↗

arXiv2023

DiffRate : Differentiable Compression Rate for Efficient Vision Transformers

Token compression aims to speed up large-scale vision transformers (e.g. ViTs) by pruning (dropping) or merging tokens. It is an important but challenging task. Although recent advanced approaches achieved great success, they need to carefully handcraft a compression rate (i.e. number of tokens to remove), which is tedious and leads to sub-optimal performance. To tackle this problem, we propose Differentiable Compression Rate (DiffRate), a novel token compression method that has several appealing properties prior arts do not have. First, DiffRate enables propagating the loss function's gradient onto the compression ratio, which is considered as a non-differentiable hyperparameter in previous work. In this case, different layers can automatically learn different compression rates layer-wisely without extra overhead. Second, token pruning and merging can be naturally performed simultaneously in DiffRate, while they were isolated in previous works. Third, extensive experiments demonstrate that DiffRate achieves state-of-the-art performance. For example, by applying the learned layer-wise compression rates to an off-the-shelf ViT-H (MAE) model, we achieve a 40% FLOPs reduction and a 1.5x throughput improvement, with a minor accuracy drop of 0.16% on ImageNet without fine-tuning, even outperforming previous methods with fine-tuning. Codes and models are available at https://github.com/OpenGVLab/DiffRate.

cs.CV↗