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Representing robotic manipulation tasks as constraints that associate the robot and the environment is a promising way to encode desired robot behaviors. However, it remains unclear how to formulate the constraints such that they are 1) versatile to diverse tasks, 2) free of manual labeling, and 3) optimizable by off-the-shelf solvers to produce robot actions in real-time. In this work, we introduce Relational Keypoint Constraints (ReKep), a visually-grounded representation for constraints in robotic manipulation. Specifically, ReKep is expressed as Python functions mapping a set of 3D keypoints in the environment to a numerical cost. We demonstrate that by representing a manipulation task as a sequence of Relational Keypoint Constraints, we can employ a hierarchical optimization procedure to solve for robot actions (represented by a sequence of end-effector poses in SE(3)) with a perception-action loop at a real-time frequency. Furthermore, in order to circumvent the need for manual specification of ReKep for each new task, we devise an automated procedure that leverages large vision models and vision-language models to produce ReKep from free-form language instructions and RGB-D observations. We present system implementations on a wheeled single-arm platform and a stationary dual-arm platform that can perform a large variety of manipulation tasks, featuring multi-stage, in-the-wild, bimanual, and reactive behaviors, all without task-specific data or environment models. Website at https://rekep-robot.github.io.

Understanding and reasoning about objects' physical properties in the natural world is a fundamental challenge in artificial intelligence. While some properties like colors and shapes can be directly observed, others, such as mass and electric charge, are hidden from the objects' visual appearance. This paper addresses the unique challenge of inferring these hidden physical properties from objects' motion and interactions and predicting corresponding dynamics based on the inferred physical properties. We first introduce the Compositional Physical Reasoning (ComPhy) dataset. For a given set of objects, ComPhy includes limited videos of them moving and interacting under different initial conditions. The model is evaluated based on its capability to unravel the compositional hidden properties, such as mass and charge, and use this knowledge to answer a set of questions. Besides the synthetic videos from simulators, we also collect a real-world dataset to show further test physical reasoning abilities of different models. We evaluate state-of-the-art video reasoning models on ComPhy and reveal their limited ability to capture these hidden properties, which leads to inferior performance. We also propose a novel neuro-symbolic framework, Physical Concept Reasoner (PCR), that learns and reasons about both visible and hidden physical properties from question answering. After training, PCR demonstrates remarkable capabilities. It can detect and associate objects across frames, ground visible and hidden physical properties, make future and counterfactual predictions, and utilize these extracted representations to answer challenging questions., Comment: arXiv admin note: text overlap with arXiv:2205.01089

Predictive models are a crucial component of many robotic systems. Yet, constructing accurate predictive models for a variety of deformable objects, especially those with unknown physical properties, remains a significant challenge. This paper introduces AdaptiGraph, a learning-based dynamics modeling approach that enables robots to predict, adapt to, and control a wide array of challenging deformable materials with unknown physical properties. AdaptiGraph leverages the highly flexible graph-based neural dynamics (GBND) framework, which represents material bits as particles and employs a graph neural network (GNN) to predict particle motion. Its key innovation is a unified physical property-conditioned GBND model capable of predicting the motions of diverse materials with varying physical properties without retraining. Upon encountering new materials during online deployment, AdaptiGraph utilizes a physical property optimization process for a few-shot adaptation of the model, enhancing its fit to the observed interaction data. The adapted models can precisely simulate the dynamics and predict the motion of various deformable materials, such as ropes, granular media, rigid boxes, and cloth, while adapting to different physical properties, including stiffness, granular size, and center of pressure. On prediction and manipulation tasks involving a diverse set of real-world deformable objects, our method exhibits superior prediction accuracy and task proficiency over non-material-conditioned and non-adaptive models. The project page is available at https://robopil.github.io/adaptigraph/ ., Comment: Project page: https://robopil.github.io/adaptigraph/

Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile sensing for robotic manipulation by learning a neural, tactile-informed dynamics model. Our proposed framework, RoboPack, employs a recurrent graph neural network to estimate object states, including particles and object-level latent physics information, from historical visuo-tactile observations and to perform future state predictions. Our tactile-informed dynamics model, learned from real-world data, can solve downstream robotics tasks with model-predictive control. We demonstrate our approach on a real robot equipped with a compliant Soft-Bubble tactile sensor on non-prehensile manipulation and dense packing tasks, where the robot must infer the physics properties of objects from direct and indirect interactions. Trained on only an average of 30 minutes of real-world interaction data per task, our model can perform online adaptation and make touch-informed predictions. Through extensive evaluations in both long-horizon dynamics prediction and real-world manipulation, our method demonstrates superior effectiveness compared to previous learning-based and physics-based simulation systems., Comment: Robotics: Science and Systems (RSS), 2024. Project page: https://robo-pack.github.io/

Lattice structures have been widely used in applications due to their superior mechanical properties. To fabricate such structures, a geometric processing step called triangulation is often employed to transform them into the STL format before sending them to 3D printers. Because lattice structures tend to have high geometric complexity, this step usually generates a large amount of triangles, a memory and compute-intensive task. This problem manifests itself clearly through large-scale lattice structures that have millions or billions of struts. To address this problem, this paper proposes to transform a lattice structure into an intermediate model called meta-mesh before undergoing real triangulation. Compared to triangular meshes, meta-meshes are very lightweight and much less compute-demanding. The meta-mesh can also work as a base mesh reusable for conveniently and efficiently triangulating lattice structures with arbitrary resolutions. A CPU+GPU asynchronous meta-meshing pipeline has been developed to efficiently generate meta-meshes from lattice structures. It shifts from the thread-centric GPU algorithm design paradigm commonly used in CAD to the recent warp-centric design paradigm to achieve high performance. This is achieved by a new data compression method, a GPU cache-aware data structure, and a workload-balanced scheduling method that can significantly reduce memory divergence and branch divergence. Experimenting with various billion-scale lattice structures, the proposed method is seen to be two orders of magnitude faster than previously achievable.

The systematic evaluation and understanding of computer vision models under varying conditions require large amounts of data with comprehensive and customized labels, which real-world vision datasets rarely satisfy. While current synthetic data generators offer a promising alternative, particularly for embodied AI tasks, they often fall short for computer vision tasks due to low asset and rendering quality, limited diversity, and unrealistic physical properties. We introduce the BEHAVIOR Vision Suite (BVS), a set of tools and assets to generate fully customized synthetic data for systematic evaluation of computer vision models, based on the newly developed embodied AI benchmark, BEHAVIOR-1K. BVS supports a large number of adjustable parameters at the scene level (e.g., lighting, object placement), the object level (e.g., joint configuration, attributes such as "filled" and "folded"), and the camera level (e.g., field of view, focal length). Researchers can arbitrarily vary these parameters during data generation to perform controlled experiments. We showcase three example application scenarios: systematically evaluating the robustness of models across different continuous axes of domain shift, evaluating scene understanding models on the same set of images, and training and evaluating simulation-to-real transfer for a novel vision task: unary and binary state prediction. Project website: https://behavior-vision-suite.github.io/, Comment: CVPR 2024 (Highlight). Project website: https://behavior-vision-suite.github.io/

Reconstructing and simulating elastic objects from visual observations is crucial for applications in computer vision and robotics. Existing methods, such as 3D Gaussians, model 3D appearance and geometry, but lack the ability to estimate physical properties for objects and simulate them. The core challenge lies in integrating an expressive yet efficient physical dynamics model. We propose Spring-Gaus, a 3D physical object representation for reconstructing and simulating elastic objects from videos of the object from multiple viewpoints. In particular, we develop and integrate a 3D Spring-Mass model into 3D Gaussian kernels, enabling the reconstruction of the visual appearance, shape, and physical dynamics of the object. Our approach enables future prediction and simulation under various initial states and environmental properties. We evaluate Spring-Gaus on both synthetic and real-world datasets, demonstrating accurate reconstruction and simulation of elastic objects. Project page: https://zlicheng.com/spring_gaus/.

We present BEHAVIOR-1K, a comprehensive simulation benchmark for human-centered robotics. BEHAVIOR-1K includes two components, guided and motivated by the results of an extensive survey on "what do you want robots to do for you?". The first is the definition of 1,000 everyday activities, grounded in 50 scenes (houses, gardens, restaurants, offices, etc.) with more than 9,000 objects annotated with rich physical and semantic properties. The second is OMNIGIBSON, a novel simulation environment that supports these activities via realistic physics simulation and rendering of rigid bodies, deformable bodies, and liquids. Our experiments indicate that the activities in BEHAVIOR-1K are long-horizon and dependent on complex manipulation skills, both of which remain a challenge for even state-of-the-art robot learning solutions. To calibrate the simulation-to-reality gap of BEHAVIOR-1K, we provide an initial study on transferring solutions learned with a mobile manipulator in a simulated apartment to its real-world counterpart. We hope that BEHAVIOR-1K's human-grounded nature, diversity, and realism make it valuable for embodied AI and robot learning research. Project website: https://behavior.stanford.edu., Comment: A preliminary version was published at 6th Conference on Robot Learning (CoRL 2022)

We introduce the novel task of interactive scene exploration, wherein robots autonomously explore environments and produce an action-conditioned scene graph (ACSG) that captures the structure of the underlying environment. The ACSG accounts for both low-level information (geometry and semantics) and high-level information (action-conditioned relationships between different entities) in the scene. To this end, we present the Robotic Exploration (RoboEXP) system, which incorporates the Large Multimodal Model (LMM) and an explicit memory design to enhance our system's capabilities. The robot reasons about what and how to explore an object, accumulating new information through the interaction process and incrementally constructing the ACSG. Leveraging the constructed ACSG, we illustrate the effectiveness and efficiency of our RoboEXP system in facilitating a wide range of real-world manipulation tasks involving rigid, articulated objects, nested objects, and deformable objects., Comment: Project Page: https://jianghanxiao.github.io/roboexp-web/

Large Language Model (LLM) agents, capable of performing a broad range of actions, such as invoking tools and controlling robots, show great potential in tackling real-world challenges. LLM agents are typically prompted to produce actions by generating JSON or text in a pre-defined format, which is usually limited by constrained action space (e.g., the scope of pre-defined tools) and restricted flexibility (e.g., inability to compose multiple tools). This work proposes to use executable Python code to consolidate LLM agents' actions into a unified action space (CodeAct). Integrated with a Python interpreter, CodeAct can execute code actions and dynamically revise prior actions or emit new actions upon new observations through multi-turn interactions. Our extensive analysis of 17 LLMs on API-Bank and a newly curated benchmark shows that CodeAct outperforms widely used alternatives (up to 20% higher success rate). The encouraging performance of CodeAct motivates us to build an open-source LLM agent that interacts with environments by executing interpretable code and collaborates with users using natural language. To this end, we collect an instruction-tuning dataset CodeActInstruct that consists of 7k multi-turn interactions using CodeAct. We show that it can be used with existing data to improve models in agent-oriented tasks without compromising their general capability. CodeActAgent, finetuned from Llama2 and Mistral, is integrated with Python interpreter and uniquely tailored to perform sophisticated tasks (e.g., model training) using existing libraries and autonomously self-debug., Comment: Accepted by ICML 2024; Code, data, model, and demo are available at https://github.com/xingyaoww/code-act

Learning predictive models from observations using deep neural networks (DNNs) is a promising new approach to many real-world planning and control problems. However, common DNNs are too unstructured for effective planning, and current control methods typically rely on extensive sampling or local gradient descent. In this paper, we propose a new framework for integrated model learning and predictive control that is amenable to efficient optimization algorithms. Specifically, we start with a ReLU neural model of the system dynamics and, with minimal losses in prediction accuracy, we gradually sparsify it by removing redundant neurons. This discrete sparsification process is approximated as a continuous problem, enabling an end-to-end optimization of both the model architecture and the weight parameters. The sparsified model is subsequently used by a mixed-integer predictive controller, which represents the neuron activations as binary variables and employs efficient branch-and-bound algorithms. Our framework is applicable to a wide variety of DNNs, from simple multilayer perceptrons to complex graph neural dynamics. It can efficiently handle tasks involving complicated contact dynamics, such as object pushing, compositional object sorting, and manipulation of deformable objects. Numerical and hardware experiments show that, despite the aggressive sparsification, our framework can deliver better closed-loop performance than existing state-of-the-art methods., Comment: Accepted at NeurIPS 2023. For tutorial code and additional visualizations, see https://robopil.github.io/Sparse-Dynamics/

Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train generalist X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. More details can be found on the project website https://robotics-transformer-x.github.io., Comment: Project website: https://robotics-transformer-x.github.io

Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out by human workers as stowing is challenging to automate due to the complex multi-object interactions and long-horizon nature of the task. Previous works typically involve extensive data collection and costly human labeling of semantic priors across diverse object categories. This paper presents a method to learn a generalizable robot stowing policy from predictive model of object interactions and a single demonstration with behavior primitives. We propose a novel framework that utilizes Graph Neural Networks to predict object interactions within the parameter space of behavioral primitives. We further employ primitive-augmented trajectory optimization to search the parameters of a predefined library of heterogeneous behavioral primitives to instantiate the control action. Our framework enables robots to proficiently execute long-horizon stowing tasks with a few keyframes (3-4) from a single demonstration. Despite being solely trained in a simulation, our framework demonstrates remarkable generalization capabilities. It efficiently adapts to a broad spectrum of real-world conditions, including various shelf widths, fluctuating quantities of objects, and objects with diverse attributes such as sizes and shapes., Comment: Project Page: https://haonan16.github.io/stow_page/ 16 pages, 9 figures, Accepted for an oral presentation at CoRL 2023

Scene representation has been a crucial design choice in robotic manipulation systems. An ideal representation should be 3D, dynamic, and semantic to meet the demands of diverse manipulation tasks. However, previous works often lack all three properties simultaneously. In this work, we introduce D$^3$Fields - dynamic 3D descriptor fields. These fields capture the dynamics of the underlying 3D environment and encode both semantic features and instance masks. Specifically, we project arbitrary 3D points in the workspace onto multi-view 2D visual observations and interpolate features derived from foundational models. The resulting fused descriptor fields allow for flexible goal specifications using 2D images with varied contexts, styles, and instances. To evaluate the effectiveness of these descriptor fields, we apply our representation to a wide range of robotic manipulation tasks in a zero-shot manner. Through extensive evaluation in both real-world scenarios and simulations, we demonstrate that D$^3$Fields are both generalizable and effective for zero-shot robotic manipulation tasks. In quantitative comparisons with state-of-the-art dense descriptors, such as Dense Object Nets and DINO, D$^3$Fields exhibit significantly better generalization abilities and manipulation accuracy., Comment: Project Page: https://robopil.github.io/d3fields/

Large foundational models, through upstream pre-training and downstream fine-tuning, have achieved immense success in the broad AI community due to improved model performance and significant reductions in repetitive engineering. By contrast, the transferable one-for-all models in the recommender system field, referred to as TransRec, have made limited progress. The development of TransRec has encountered multiple challenges, among which the lack of large-scale, high-quality transfer learning recommendation dataset and benchmark suites is one of the biggest obstacles. To this end, we introduce NineRec, a TransRec dataset suite that comprises a large-scale source domain recommendation dataset and nine diverse target domain recommendation datasets. Each item in NineRec is accompanied by a descriptive text and a high-resolution cover image. Leveraging NineRec, we enable the implementation of TransRec models by learning from raw multimodal features instead of relying solely on pre-extracted off-the-shelf features. Finally, we present robust TransRec benchmark results with several classical network architectures, providing valuable insights into the field. To facilitate further research, we will release our code, datasets, benchmarks, and leaderboards at https://github.com/westlake-repl/NineRec.

Recommender systems (RS) have achieved significant success by leveraging explicit identification (ID) features. However, the full potential of content features, especially the pure image pixel features, remains relatively unexplored. The limited availability of large, diverse, and content-driven image recommendation datasets has hindered the use of raw images as item representations. In this regard, we present PixelRec, a massive image-centric recommendation dataset that includes approximately 200 million user-image interactions, 30 million users, and 400,000 high-quality cover images. By providing direct access to raw image pixels, PixelRec enables recommendation models to learn item representation directly from them. To demonstrate its utility, we begin by presenting the results of several classical pure ID-based baseline models, termed IDNet, trained on PixelRec. Then, to show the effectiveness of the dataset's image features, we substitute the itemID embeddings (from IDNet) with a powerful vision encoder that represents items using their raw image pixels. This new model is dubbed PixelNet.Our findings indicate that even in standard, non-cold start recommendation settings where IDNet is recognized as highly effective, PixelNet can already perform equally well or even better than IDNet. Moreover, PixelNet has several other notable advantages over IDNet, such as being more effective in cold-start and cross-domain recommendation scenarios. These results underscore the importance of visual features in PixelRec. We believe that PixelRec can serve as a critical resource and testing ground for research on recommendation models that emphasize image pixel content. The dataset, code, and leaderboard will be available at https://github.com/westlake-repl/PixelRec.

Short-video recommendation is one of the most important recommendation applications in today's industrial information systems. Compared with other recommendation tasks, the enormous amount of feedback is the most typical characteristic. Specifically, in short-video recommendation, the easiest-to-collect user feedback is the skipping behavior, which leads to two critical challenges for the recommendation model. First, the skipping behavior reflects implicit user preferences, and thus, it is challenging for interest extraction. Second, this kind of special feedback involves multiple objectives, such as total watching time and skipping rate, which is also very challenging. In this paper, we present our industrial solution in Kuaishou, which serves billion-level users every day. Specifically, we deploy a feedback-aware encoding module that extracts user preferences, taking the impact of context into consideration. We further design a multi-objective prediction module which well distinguishes the relation and differences among different model objectives in the short-video recommendation. We conduct extensive online A/B tests, along with detailed and careful analysis, which verify the effectiveness of our solution., Comment: Accepted by CIKM'23

We have studied equipotential surfaces of a thick accretion disk around a Casadio-Fabbri-Mazzacurati (CFM) compact object in the brane-world scenario, which owns a mass parameter together with a parameterized post-newtonian (PPN) parameter. With the increase of the PPN parameter, the size of the thick accretion disk decreases, but the corresponding Roche lobe size increases. Thus, the larger PPN parameter yields the larger region of existing bound disk structures where the fluid is not accreted into the central wormhole. Moreover, with the increase of the PPN parameter, the position of the Roche lobe gradually moves away from the central compact object, the thickness of the region enclosed by the Roche lobe decreases near the compact object, but increases in the region far from the compact object. Our results also show that the pressure gradient in the disk decreases with the PPN parameter. These effects of the PPN parameter on thick accretion disk could help to further understand compact objects in brane-world scenario., Comment: 13 pages, 7 figures, Accepted by Commun. Theor. Phys

Sequential recommendation is one of the most important tasks in recommender systems, which aims to recommend the next interacted item with historical behaviors as input. Traditional sequential recommendation always mainly considers the collected positive feedback such as click, purchase, etc. However, in short-video platforms such as TikTok, video viewing behavior may not always represent positive feedback. Specifically, the videos are played automatically, and users passively receive the recommended videos. In this new scenario, users passively express negative feedback by skipping over videos they do not like, which provides valuable information about their preferences. Different from the negative feedback studied in traditional recommender systems, this passive-negative feedback can reflect users' interests and serve as an important supervision signal in extracting users' preferences. Therefore, it is essential to carefully design and utilize it in this novel recommendation scenario. In this work, we first conduct analyses based on a large-scale real-world short-video behavior dataset and illustrate the significance of leveraging passive feedback. We then propose a novel method that deploys the sub-interest encoder, which incorporates positive feedback and passive-negative feedback as supervision signals to learn the user's current active sub-interest. Moreover, we introduce an adaptive fusion layer to integrate various sub-interests effectively. To enhance the robustness of our model, we then introduce a multi-task learning module to simultaneously optimize two kinds of feedback -- passive-negative feedback and traditional randomly-sampled negative feedback. The experiments on two large-scale datasets verify that the proposed method can significantly outperform state-of-the-art approaches. The code is released at https://github.com/tsinghua-fib-lab/RecSys2023-SINE., Comment: Accepted by RecSys'23

Large language models (LLMs) are shown to possess a wealth of actionable knowledge that can be extracted for robot manipulation in the form of reasoning and planning. Despite the progress, most still rely on pre-defined motion primitives to carry out the physical interactions with the environment, which remains a major bottleneck. In this work, we aim to synthesize robot trajectories, i.e., a dense sequence of 6-DoF end-effector waypoints, for a large variety of manipulation tasks given an open-set of instructions and an open-set of objects. We achieve this by first observing that LLMs excel at inferring affordances and constraints given a free-form language instruction. More importantly, by leveraging their code-writing capabilities, they can interact with a vision-language model (VLM) to compose 3D value maps to ground the knowledge into the observation space of the agent. The composed value maps are then used in a model-based planning framework to zero-shot synthesize closed-loop robot trajectories with robustness to dynamic perturbations. We further demonstrate how the proposed framework can benefit from online experiences by efficiently learning a dynamics model for scenes that involve contact-rich interactions. We present a large-scale study of the proposed method in both simulated and real-robot environments, showcasing the ability to perform a large variety of everyday manipulation tasks specified in free-form natural language. Videos and code at https://voxposer.github.io

Dynamics models learned from visual observations have shown to be effective in various robotic manipulation tasks. One of the key questions for learning such dynamics models is what scene representation to use. Prior works typically assume representation at a fixed dimension or resolution, which may be inefficient for simple tasks and ineffective for more complicated tasks. In this work, we investigate how to learn dynamic and adaptive representations at different levels of abstraction to achieve the optimal trade-off between efficiency and effectiveness. Specifically, we construct dynamic-resolution particle representations of the environment and learn a unified dynamics model using graph neural networks (GNNs) that allows continuous selection of the abstraction level. During test time, the agent can adaptively determine the optimal resolution at each model-predictive control (MPC) step. We evaluate our method in object pile manipulation, a task we commonly encounter in cooking, agriculture, manufacturing, and pharmaceutical applications. Through comprehensive evaluations both in the simulation and the real world, we show that our method achieves significantly better performance than state-of-the-art fixed-resolution baselines at the gathering, sorting, and redistribution of granular object piles made with various instances like coffee beans, almonds, corn, etc., Comment: Accepted to Robotics: Science and Systems (RSS) 2023. The first two authors contributed equally. Project Page: https://robopil.github.io/dyn-res-pile-manip

Humans excel in complex long-horizon soft body manipulation tasks via flexible tool use: bread baking requires a knife to slice the dough and a rolling pin to flatten it. Often regarded as a hallmark of human cognition, tool use in autonomous robots remains limited due to challenges in understanding tool-object interactions. Here we develop an intelligent robotic system, RoboCook, which perceives, models, and manipulates elasto-plastic objects with various tools. RoboCook uses point cloud scene representations, models tool-object interactions with Graph Neural Networks (GNNs), and combines tool classification with self-supervised policy learning to devise manipulation plans. We demonstrate that from just 20 minutes of real-world interaction data per tool, a general-purpose robot arm can learn complex long-horizon soft object manipulation tasks, such as making dumplings and alphabet letter cookies. Extensive evaluations show that RoboCook substantially outperforms state-of-the-art approaches, exhibits robustness against severe external disturbances, and demonstrates adaptability to different materials., Comment: Project page: https://hshi74.github.io/robocook/

Learned visual dynamics models have proven effective for robotic manipulation tasks. Yet, it remains unclear how best to represent scenes involving multi-object interactions. Current methods decompose a scene into discrete objects, but they struggle with precise modeling and manipulation amid challenging lighting conditions as they only encode appearance tied with specific illuminations. In this work, we propose using object-centric neural scattering functions (OSFs) as object representations in a model-predictive control framework. OSFs model per-object light transport, enabling compositional scene re-rendering under object rearrangement and varying lighting conditions. By combining this approach with inverse parameter estimation and graph-based neural dynamics models, we demonstrate improved model-predictive control performance and generalization in compositional multi-object environments, even in previously unseen scenarios and harsh lighting conditions., Comment: First two authors contributed equally. Accepted at CVPR 2023. Project page: https://s-tian.github.io/projects/actionosf/

We introduce the ObjectFolder Benchmark, a benchmark suite of 10 tasks for multisensory object-centric learning, centered around object recognition, reconstruction, and manipulation with sight, sound, and touch. We also introduce the ObjectFolder Real dataset, including the multisensory measurements for 100 real-world household objects, building upon a newly designed pipeline for collecting the 3D meshes, videos, impact sounds, and tactile readings of real-world objects. We conduct systematic benchmarking on both the 1,000 multisensory neural objects from ObjectFolder, and the real multisensory data from ObjectFolder Real. Our results demonstrate the importance of multisensory perception and reveal the respective roles of vision, audio, and touch for different object-centric learning tasks. By publicly releasing our dataset and benchmark suite, we hope to catalyze and enable new research in multisensory object-centric learning in computer vision, robotics, and beyond. Project page: https://objectfolder.stanford.edu, Comment: In CVPR 2023. Project page: https://objectfolder.stanford.edu/. ObjectFolder Real demo: https://www.objectfolder.org/swan_vis/. Gao, Dou, and Li contributed equally to this work

Adapters, a plug-in neural network module with some tunable parameters, have emerged as a parameter-efficient transfer learning technique for adapting pre-trained models to downstream tasks, especially for natural language processing (NLP) and computer vision (CV) fields. Meanwhile, learning recommendation models directly from raw item modality features -- e.g., texts of NLP and images of CV -- can enable effective and transferable recommender systems (called TransRec). In view of this, a natural question arises: can adapter-based learning techniques achieve parameter-efficient TransRec with good performance? To this end, we perform empirical studies to address several key sub-questions. First, we ask whether the adapter-based TransRec performs comparably to TransRec based on standard full-parameter fine-tuning? does it hold for recommendation with different item modalities, e.g., textual RS and visual RS. If yes, we benchmark these existing adapters, which have been shown to be effective in NLP and CV tasks, in item recommendation tasks. Third, we carefully study several key factors for the adapter-based TransRec in terms of where and how to insert these adapters? Finally, we look at the effects of adapter-based TransRec by either scaling up its source training data or scaling down its target training data. Our paper provides key insights and practical guidance on unified & transferable recommendation -- a less studied recommendation scenario. We release our codes and other materials at: https://github.com/westlake-repl/Adapter4Rec/., Comment: Accepted by WSDM2024

Given a visual scene, humans have strong intuitions about how a scene can evolve over time under given actions. The intuition, often termed visual intuitive physics, is a critical ability that allows us to make effective plans to manipulate the scene to achieve desired outcomes without relying on extensive trial and error. In this paper, we present a framework capable of learning 3D-grounded visual intuitive physics models from videos of complex scenes with fluids. Our method is composed of a conditional Neural Radiance Field (NeRF)-style visual frontend and a 3D point-based dynamics prediction backend, using which we can impose strong relational and structural inductive bias to capture the structure of the underlying environment. Unlike existing intuitive point-based dynamics works that rely on the supervision of dense point trajectory from simulators, we relax the requirements and only assume access to multi-view RGB images and (imperfect) instance masks acquired using color prior. This enables the proposed model to handle scenarios where accurate point estimation and tracking are hard or impossible. We generate datasets including three challenging scenarios involving fluid, granular materials, and rigid objects in the simulation. The datasets do not include any dense particle information so most previous 3D-based intuitive physics pipelines can barely deal with that. We show our model can make long-horizon future predictions by learning from raw images and significantly outperforms models that do not employ an explicit 3D representation space. We also show that once trained, our model can achieve strong generalization in complex scenarios under extrapolate settings.

We propose Filtering Inversion (FINV), a learning framework and optimization process that predicts a renderable 3D object representation from one or few partial views. FINV addresses the challenge of synthesizing novel views of objects from partial observations, spanning cases where the object is not entirely in view, is partially occluded, or is only observed from similar views. To achieve this, FINV learns shape priors by training a 3D generative model. At inference, given one or more views of a novel real-world object, FINV first finds a set of latent codes for the object by inverting the generative model from multiple initial seeds. Maintaining the set of latent codes, FINV filters and resamples them after receiving each new observation, akin to particle filtering. The generator is then finetuned for each latent code on the available views in order to adapt to novel objects. We show that FINV successfully synthesizes novel views of real-world objects (e.g., chairs, tables, and cars), even if the generative prior is trained only on synthetic objects. The ability to address the sim-to-real problem allows FINV to be used for object categories without real-world datasets. FINV achieves state-of-the-art performance on multiple real-world datasets, recovers object shape and texture from partial and sparse views, is robust to occlusion, and is able to incrementally improve its representation with more observations., Comment: project website: http://cs.stanford.edu/~sunfanyun/finv

Recommendation models that utilize unique identities (IDs) to represent distinct users and items have been state-of-the-art (SOTA) and dominated the recommender systems (RS) literature for over a decade. Meanwhile, the pre-trained modality encoders, such as BERT and ViT, have become increasingly powerful in modeling the raw modality features of an item, such as text and images. Given this, a natural question arises: can a purely modality-based recommendation model (MoRec) outperforms or matches a pure ID-based model (IDRec) by replacing the itemID embedding with a SOTA modality encoder? In fact, this question was answered ten years ago when IDRec beats MoRec by a strong margin in both recommendation accuracy and efficiency. We aim to revisit this `old' question and systematically study MoRec from several aspects. Specifically, we study several sub-questions: (i) which recommendation paradigm, MoRec or IDRec, performs better in practical scenarios, especially in the general setting and warm item scenarios where IDRec has a strong advantage? does this hold for items with different modality features? (ii) can the latest technical advances from other communities (i.e., natural language processing and computer vision) translate into accuracy improvement for MoRec? (iii) how to effectively utilize item modality representation, can we use it directly or do we have to adjust it with new data? (iv) are there some key challenges for MoRec to be solved in practical applications? To answer them, we conduct rigorous experiments for item recommendations with two popular modalities, i.e., text and vision. We provide the first empirical evidence that MoRec is already comparable to its IDRec counterpart with an expensive end-to-end training method, even for warm item recommendation. Our results potentially imply that the dominance of IDRec in the RS field may be greatly challenged in the future.