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1. M2T2: Multi-Task Masked Transformer for Object-centric Pick and Place

   Yuan, Wentao; Murali, Adithyavairavan; Mousavian, Arsalan (November 2023, 7th Annual Conference on Robot Learning)

   Tan, Jie; Toussaint, Marc (Ed.)

   With the advent of large language models and large-scale robotic datasets, there has been tremendous progress in high-level decision-making for object manipulation [1, 2, 3, 4]. These generic models are able to interpret complex tasks using language commands, but they often have difficulties generalizing to out-of-distribution objects due to the inability of low-level action primitives. In contrast, existing task-specific models [5, 6] excel in low-level manipulation of unknown objects, but only work for a single type of action. To bridge this gap, we present M2T2, a single model that supplies different types of low-level actions that work robustly on arbitrary objects in cluttered scenes. M2T2 is a transformer model which reasons about contact points and predicts valid gripper poses for different action modes given a raw point cloud of the scene. Trained on a large-scale synthetic dataset with 128K scenes, M2T2 achieves zero-shot sim2real transfer on the real robot, outperforming the baseline system with state- of-the-art task-specific models by about 19% in overall performance and 37.5% in challenging scenes where the object needs to be re-oriented for collision- free placement. M2T2 also achieves state-of-the-art results on a subset of language conditioned tasks in RLBench [7]. Videos of robot experiments on unseen objects in both real world and simulation are available on our project website https://m2-t2.github.io. 

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2. Young children’s drawings and descriptions of layouts and objects.

   https://doi.org/10.31234/osf.io/drfex  

   Bochynska, Agata; Dillon, Moira R. (January 2022, Proceedings of the Annual Meeting of the Cognitive Science Society)

   Young children tend to prioritize objects over layouts in their drawings, often juxtaposing “floating” objects in the picture plane instead of grounding those objects in drawn representations of the extended layout. In the present study, we explore whether implicitly directing children’s attention to elements of the extended layout through a drawing’s communicative goal—to indicate the location of a hidden target to someone else—might lead children to draw more layout information. By comparing children’s drawings to a different group of children’s verbal descriptions, moreover, we explore how communicative medium affects children’s inclusion of layout and object information. If attention modulates children’s symbolic communication about layouts and objects, then children should both draw and talk about layouts and objects when they are relevant to the communicative task. If there are challenges or advantages specific to either medium, then children might treat layouts and objects differently when drawing versus describing them. We find evidence for both of these possibilities: Attention affects what children include in symbolic communication, like drawings and language, but children are more concise in their inclusion of relevant layout or object information in language versus drawings. 

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3. SAS: self-augmented strategy for language model pre-training.

   https://doi.org/10.1609/aaai.v36i10.21412  

   Xu, Y.; Zhang, J.; He, R.; Ge, L.; Yang, C.; Yang, C.; Wu, Y. N. (January 2022, The Thirty-Sixth AAAI Conference on Artificial Intelligence (AAAI) 2022)

   The core of self-supervised learning for pre-training language models includes pre-training task design as well as appropriate data augmentation. Most data augmentations in language model pre-training are context-independent. A seminal contextualized augmentation was recently proposed in ELECTRA and achieved state-of-the-art performance by introducing an auxiliary generation network (generator) to produce contextualized data augmentation for the training of a main discrimination network (discriminator). This design, however, introduces extra computation cost of the genera- tor and a need to adjust the relative capability between the generator and the discriminator. In this paper, we propose a self-augmentation strategy (SAS) where a single network is utilized for both regular pre-training and contextualized data augmentation for the training in later epochs. Essentially, this strategy eliminates a separate generator and uses the single network to jointly conduct two pre-training tasks with MLM (Masked Language Modeling) and RTD (Replaced Token Detection) heads. It avoids the challenge to search for an appropriate size of the generator, which is critical to the performance as evidenced in ELECTRA and its subsequent variant models. In addition, SAS is a general strategy that can be seamlessly combined with many new techniques emerging recently or in the future, such as the disentangled attention mechanism from DeBERTa. Our experiments show that SAS outperforms ELECTRA and other state-of-the-art models in the GLUE tasks with similar or less computation cost. 

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4. Learning adaptive planning representations with natural language guidance

   Wong, Lionel; Mao, Jiayuan; Sharma, Pratyusha; Siegel, Zachary; Feng, Jiahai; Korneev, Noa; Tenenbaum, Joshua B; Andreas, Jacob (May 2024, International Conference on Learning Representations)

   Effective planning in the real world requires not only world knowledge, but the ability to leverage that knowledge to build the right representation of the task at hand. Decades of hierarchical planning techniques have used domain-specific temporal action abstractions to support efficient and accurate planning, almost always relying on human priors and domain knowledge to decompose hard tasks into smaller subproblems appropriate for a goal or set of goals. This paper describes Ada (Action Domain Acquisition), a framework for automatically constructing task-specific planning representations using task-general background knowledge from language models (LMs). Starting with a general-purpose hierarchical planner and a low-level goal-conditioned policy, Ada interactively learns a library of planner-compatible high-level action abstractions and low-level controllers adapted to a particular domain of planning tasks. On two language-guided interactive planning benchmarks (Mini Minecraft and ALFRED Household Tasks), Ada strongly outperforms other approaches that use LMs for sequential decision- making, offering more accurate plans and better generalization to complex tasks. 

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5. No Head Left Behind - Multi-Head Alignment Distillation for Transformers

   Zhao, T; Singh, K Y; Appalaraju, S; Tang, P; Mahadevan, V; Manmatha, R; Wu, Y N (February 2024, AAAI Conference on Artificial Intelligence)

   Knowledge distillation aims at reducing model size without compromising much performance. Recent work has applied it to large vision-language (VL) Transformers, and has shown that attention maps in the multi-head attention modules of vision-language Transformers contain extensive intra-modal and cross-modal co-reference relations to be distilled. The standard approach is to apply a one-to-one attention map distillation loss, i.e. the Teacher’s first attention head instructs the Student’s first head, the second teaches the second, and so forth, but this only works when the numbers of attention heads in the Teacher and Student are the same. To remove this constraint, we propose a new Attention Map Alignment Distillation (AMAD) method for Transformers with multi-head attention, which works for a Teacher and a Student with different numbers of attention heads. Specifically, we soft-align different heads in Teacher and Student attention maps using a cosine similarity weighting. The Teacher head contributes more to the Student heads for which it has a higher similarity weight. Each Teacher head contributes to all the Student heads by minimizing the divergence between the attention activation distributions for the soft-aligned heads. No head is left behind. This distillation approach operates like cross-attention. We experiment on distilling VL-T5 and BLIP, and apply AMAD loss on their T5, BERT, and ViT sub-modules. We show, under vision-language setting, that AMAD outperforms conventional distillation methods on VQA-2.0, COCO captioning, and Multi30K translation datasets. We further show that even without VL pre-training, the distilled VL-T5 models outperform corresponding VL pre-trained VL-T5 models that are further fine-tuned by ground-truth signals, and that fine-tuning distillation can also compensate to some degree for the absence of VL pre-training for BLIP models. 

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