Real-world autonomous missions often require rich interaction with nearby objects, such as doors or switches, along with effective navigation. However, such complex behaviors are difficult to learn because they involve both high-level planning and low-level motor control. We present a novel framework, Cascaded Compositional Residual Learning (CCRL), which learns composite skills by recursively leveraging a library of previously learned control policies. Our framework learns multiplicative policy composition, task-specific residual actions, and synthetic goal information simultaneously while freezing the prerequisite policies. We further explicitly control the style of the motion by regularizing residual actions. We show that our framework learns joint-level control policies for a diverse set of motor skills ranging from basic locomotion to complex interactive navigation, including navigating around obstacles, pushing objects, crawling under a table, pushing a door open with its leg, and holding it open while walking through it. The proposed CCRL framework leads to policies with consistent styles and lower joint torques, which we successfully transfer to a real Unitree A1 robot without any additional fine-tuning.

We introduce the MAsked Generative VIdeo Transformer, MAGVIT, to tackle various video synthesis tasks with a single model. We introduce a 3D tokenizer to quantize a video into spatial-temporal visual tokens and propose an embedding method for masked video token modeling to facilitate multi-task learning. We conduct extensive experiments to demonstrate the quality, efficiency, and flexibility of MAGVIT. Our experiments show that (i) MAGVIT performs favorably against state-of-the-art approaches and establishes the best-published FVD on three video generation benchmarks, including the challenging Kinetics-600. (ii) MAGVIT outperforms existing methods in inference time by two orders of magnitude against diffusion models and by 60x against autoregressive models. (iii) A single MAGVIT model supports ten diverse generation tasks and generalizes across videos from different visual domains. The source code and trained models will be released to the public at https://magvit.cs.cmu.edu.

The dichotomy between the challenging nature of obtaining annotations for activities, and the more straightforward nature of data collection from wearables, has resulted in significant interest in the development of techniques that utilize large quantities of unlabeled data for learning representations. Contrastive Predictive Coding (CPC) is one such method, learning effective representations by leveraging properties of time-series data to setup a contrastive future timestep prediction task. In this work, we propose enhancements to CPC, by systematically investigating the encoder architecture, the aggregator network, and the future timestep prediction, resulting in a fully convolutional architecture, thereby improving parallelizability. Across sensor positions and activities, our method shows substantial improvements on four of six target datasets, demonstrating its ability to empower a wide range of application scenarios. Further, in the presence of very limited labeled data, our technique significantly outperforms both supervised and self-supervised baselines, positively impacting situations where collecting only a few seconds of labeled data may be possible. This is promising, as CPC does not require specialized data transformations or reconstructions for learning effective representations.

To properly assist humans in their needs, human activity recognition (HAR) systems need the ability to fuse information from multiple modalities. Our hypothesis is that multimodal sensors, visual and non-visual tend to provide complementary information, addressing the limitations of other modalities. In this work, we propose a multi-modal framework that learns to effectively combine features from RGB Video and IMU sensors, and show its robustness for MMAct and UTD-MHAD datasets. Our model is trained in two-stage, where in the first stage, each input encoder learns to effectively extract features, and in the second stage, learns to combine these individual features. We show significant improvements of 22% and 11% compared to video only and IMU only setup on UTD-MHAD dataset, and 20% and 12% on MMAct datasets. Through extensive experimentation, we show the robustness of our model on zero shot setting, and limited annotated data setting. We further compare with state-of-the-art methods that use more input modalities and show that our method outperforms significantly on the more difficult MMact dataset, and performs comparably in UTD-MHAD dataset.

We introduce a Transformer based 6D Object Pose Estimation framework VideoPose, comprising an end-to-end attention based modelling architecture, that attends to previous frames in order to estimate accurate 6D Object Poses in videos. Our approach leverages the temporal information from a video sequence for pose refinement, along with being computationally efficient and robust. Compared to existing methods, our architecture is able to capture and reason from long-range dependencies efficiently, thus iteratively refining over video sequences. Experimental evaluation on the YCB-Video dataset shows that our approach is on par with the state-of-the-art Transformer methods, and performs significantly better relative to CNN based approaches. Further, with a speed of 33 fps, it is also more efficient and therefore applicable to a variety of applications that require real-time object pose estimation. Training code and pretrained models are available at https://github.com/ApoorvaBeedu/VideoPose

非自动进取的生成变压器最近表现出令人印象深刻的图像产生性能，并且比自动回归对应物更快。但是，从视觉令牌的真实关节分布中进行的最佳并行采样仍然是一个开放的挑战。在本文中，我们介绍了代币批评，这是一种辅助模型，用于指导非自动性生成变压器的采样。鉴于掩盖和重建的真实图像，对代币批判性模型进行了训练，以区分哪种视觉令牌属于原始图像，哪些是由生成变压器采样的。在非自动回归迭代采样过程中，令牌批评者用于选择要接受的代币以及拒绝和重新取样的代币。再加上最先进的生成变压器令牌 - 批判性可显着提高其性能，并且在挑战性的课堂条件化成像生成中，就产生的图像质量和多样性之间的权衡取舍了最近的扩散模型和gan 。

创建视觉布局是图形设计的重要步骤。当我们寻求比例和多样化的视觉设计时，这种布局的自动生成很重要。在自动布局的作品上，专注于无条件生成，其中模型在忽略用户需要进行特定问题的同时生成布局。为了提前有条件布局，我们介绍了BLT，双向布局变压器。 BLT与自回归解码不同，因为它首先生成满足用户输入的布局，然后迭代地改进布局。我们验证了具有各种保真度量的多个基准测试模型。我们的结果表明，最先进的布局变压器模型的两个主要进步。首先，我们的模型授权布局变压器来满足可控布局的制作。其次，我们的模型削减了自回归解码的线性推理时间达到恒定的复杂度，从而在推理时间以制定布局实现4x-10x的加速。

我们介绍了一种简单而有效的算法，它使用卷积神经网络直接从视频中估计对象。我们的方法利用了视频序列的时间信息，并计算了支持机器人和AR域的计算上高效且鲁棒。我们所提出的网络采用预先训练的2D对象检测器作为输入，并通过经常性神经网络聚合视觉特征以在每个帧处进行预测。YCB-Video数据集的实验评估表明，我们的方法与最先进的算法相提并论。此外，通过30 FPS的速度，它也比现有技术更有效，因此适用于需要实时对象姿态估计的各种应用。

视觉变压器（VIV）被涌现为图像识别的最先进的架构。虽然最近的研究表明，VITS比卷积对应物更强大，但我们的实验发现，VITS过度依赖于局部特征（例如，滋扰和质地），并且不能充分使用全局背景（例如，形状和结构）。因此，VIT不能概括到分销，现实世界数据。为了解决这一缺陷，我们通过添加由矢量量化编码器产生的离散令牌来向Vit的输入层提出简单有效的架构修改。与标准的连续像素令牌不同，离散令牌在小扰动下不变，并且单独包含较少的信息，这促进了VITS学习不变的全局信息。实验结果表明，在七种想象中的鲁棒性基准中增加了四个架构变体上的离散表示，在七个想象中心坚固的基准中加强了高达12％的鲁棒性，同时保持了在想象成上的性能。

近年来，文本引导的图像操纵在多媒体和计算机视觉社区中获得了越来越多的关注。条件图像生成的输入已从图像 - 仅推向多模。在本文中，我们研究一个设置，允许用户使用复杂的文本指令编辑具有多个对象的图像以添加，删除或更改对象。任务的输入是多模式，包括（1）参考图像和（2）自然语言的指令，其描述对图像的期望修改。我们提出了一种基于GaN的方法来解决这个问题。关键的想法是将文本视为神经运算符，以在本地修改图像功能。我们表明，拟议的模型对三个公共数据集的最近强大的基线进行了有利的。具体地，它产生更高保真度和语义相关性的图像，并且当用作图像查询时，导致更好的检索性能。