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Researcher profile

Siliang Tang

Siliang Tang contributes to research discovery and scholarly infrastructure.

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Computer VisionComputation and LanguageMachine LearningArtificial Intelligenceeess.IVInformation Retrieval

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Published work

20 published item(s)

preprint2026arXiv

BELIEF: Structured Evidence Modeling and Uncertainty-Aware Fusion for Biomedical Question Answering

Biomedical question answering often requires decisions from retrieved literature whose relevance, quality, and support for candidate answers are uneven. Most retrieval-augmented large language model (LLM) methods feed this literature to the model as flat text, leaving evidence reliability and remaining uncertainty largely implicit. We propose BELIEF, a structured evidence modeling and uncertainty-aware fusion framework for closed-set biomedical question answering. Rather than treating retrieved documents as undifferentiated context, BELIEF converts them into evidence objects that record clinical attributes, source quality, question relevance, support strength, and the associated candidate hypothesis. These evidence objects provide a shared basis for two complementary reasoning paths. The symbolic path constructs reliability-weighted basic probability assignments based on Dempster--Shafer (D-S) theory over a finite answer space and performs uncertainty-aware symbolic evidence fusion to estimate belief and residual uncertainty. The neural path uses the same structured evidence for LLM-based semantic inference, while a reliability-aware arbitration module reconciles the symbolic and neural outputs according to belief strength, uncertainty, evidence reliability, and semantic consistency. Experiments on PubMedQA, MedQA, and MedMCQA with five general-purpose LLM backbones show that BELIEF obtains the best result in 25 of 30 backbone--dataset--metric settings. Comparisons with biomedical-domain models indicate that BELIEF is competitive on MedQA and MedMCQA, while specialized biomedical pretraining remains advantageous on PubMedQA. Ablation, complementarity, uncertainty-stratified, and cost analyses further show that BELIEF improves retrieved-evidence utilization by making evidence structure, path disagreement, and decision uncertainty explicit.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

CORE: Code-based Inverse Self-Training Framework with Graph Expansion for Virtual Agents

The development of Multimodal Virtual Agents has made significant progress through the integration of Multimodal Large Language Models. However, mainstream training paradigms face key challenges: Behavior Cloning is simple and effective through imitation but suffers from low behavioral diversity, while Reinforcement Learning is capable of discovering novel strategies through exploration but heavily relies on manually designed reward functions. To address the conflict between these two methods, we present CORE, a Code-based Inverse Self-Training Framework with Graph Expansion that bridges imitation and exploration, offering a novel training framework that promotes behavioral diversity while eliminating the reliance on manually reward design. Specifically, we introduce Semantic Code Abstraction to automatically infers reward functions from expert demonstrations without manual design. The inferred reward function, referred to as the Label Function, is executable code that verifies one key step within a task. Building on this, we propose Strategy Graph Expansion to enhance in-domain behavioral diversity, which constructs a multi-path graph called Strategy Graph that captures diverse valid solutions beyond expert demonstrations. Furthermore, we introduce Trajectory-Guided Extrapolation, which enriches out-of-domain behavioral diversity by utilizing both successful and failed trajectories to expand the task space. Experiments on Web and Android platforms demonstrate that CORE significantly improves both overall performance and generalization, highlighting its potential as a robust and generalizable training paradigm for building powerful virtual agents.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

CrossView Suite: Harnessing Cross-view Spatial Intelligence of MLLMs with Dataset, Model and Benchmark

Spatial intelligence requires multimodal large language models (MLLMs) to move beyond single-view perception and reason consistently about objects, visibility, geometry, and interactions across multiple viewpoints. However, progress in cross-view reasoning remains limited by three major gaps: the scarcity of large-scale well-annotated training data, the lack of comprehensive benchmarks for systematic evaluation, and the absence of explicit alignment mechanisms that establish object-level consistency across views. To address these gaps, we thoroughly develop CrossView Suite across three coordinated components: CrossViewSet, CrossViewBench, and CrossViewer. Firstly, we introduce a multi-agent data engine to meticulously curate a large-scale, high-quality cross-view instruction dataset, termed CrossViewSet, covering 17 fine-grained task types with 1.6M samples. Second, we meticulously create a scene-disjoint CrossViewBench to comprehensively assess the cross-view spatial understanding capability of an MLLM, evaluating it across various aspects. Finally, we propose CrossViewer, a progressive three-stage framework for cross-view spatial reasoning in MLLMs, following a Perception -> Alignment -> Reasoning paradigm. Our method equips an adaptive spatial region tokenizer to capture fine-grained object representations, and then aligns the multi-view objects explicitly, and thus fuses aligned features for boosting the cross-view inference capacity for MLLMs. Extensive experiments and analyses show that large-scale training data, systematic evaluation, and explicit cross-view alignment are all critical for advancing MLLMs from single-view perception toward real-world spatial intelligence. The project page is available at https://github.com/Thinkirin/Crossview-Suite.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

SpatialFusion: Endowing Unified Image Generation with Intrinsic 3D Geometric Awareness

Recent unified image generation models have achieved remarkable success by employing MLLMs for semantic understanding and diffusion backbones for image generation. However, these models remain fundamentally limited in spatially-aware tasks due to a lack of intrinsic spatial understanding and the absence of explicit geometric guidance during generation. In this paper, we propose SpatialFusion, a novel framework that internalizes 3D geometric awareness into unified image generation models. Specifically, we first employ a Mixture-of-Transformers (MoT) architecture to augment the MLLM with a parallel spatial transformer to enhance 3D geometric modeling capability. By sharing self-attention with the MLLM, the spatial transformer learns to derive metric-depth maps of target images from rich semantic contexts. These explicit geometric scaffolds are then injected into the diffusion backbone through a specialized depth adapter, providing precise spatial constraints for spatially-coherent image generation. Through a progressive two-stage training strategy, SpatialFusion significantly enhances performance on spatially-aware benchmarks, notably outperforming leading models such as GPT-4o. Additionally, it achieves generalized performance gains across both text-to-image generation and image editing scenarios, all while maintaining negligible inference overhead.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Boosting RGB-D Saliency Detection by Leveraging Unlabeled RGB Images

Training deep models for RGB-D salient object detection (SOD) often requires a large number of labeled RGB-D images. However, RGB-D data is not easily acquired, which limits the development of RGB-D SOD techniques. To alleviate this issue, we present a Dual-Semi RGB-D Salient Object Detection Network (DS-Net) to leverage unlabeled RGB images for boosting RGB-D saliency detection. We first devise a depth decoupling convolutional neural network (DDCNN), which contains a depth estimation branch and a saliency detection branch. The depth estimation branch is trained with RGB-D images and then used to estimate the pseudo depth maps for all unlabeled RGB images to form the paired data. The saliency detection branch is used to fuse the RGB feature and depth feature to predict the RGB-D saliency. Then, the whole DDCNN is assigned as the backbone in a teacher-student framework for semi-supervised learning. Moreover, we also introduce a consistency loss on the intermediate attention and saliency maps for the unlabeled data, as well as a supervised depth and saliency loss for labeled data. Experimental results on seven widely-used benchmark datasets demonstrate that our DDCNN outperforms state-of-the-art methods both quantitatively and qualitatively. We also demonstrate that our semi-supervised DS-Net can further improve the performance, even when using an RGB image with the pseudo depth map.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

BOSS: Bottom-up Cross-modal Semantic Composition with Hybrid Counterfactual Training for Robust Content-based Image Retrieval

Content-Based Image Retrieval (CIR) aims to search for a target image by concurrently comprehending the composition of an example image and a complementary text, which potentially impacts a wide variety of real-world applications, such as internet search and fashion retrieval. In this scenario, the input image serves as an intuitive context and background for the search, while the corresponding language expressly requests new traits on how specific characteristics of the query image should be modified in order to get the intended target image. This task is challenging since it necessitates learning and understanding the composite image-text representation by incorporating cross-granular semantic updates. In this paper, we tackle this task by a novel \underline{\textbf{B}}ottom-up cr\underline{\textbf{O}}ss-modal \underline{\textbf{S}}emantic compo\underline{\textbf{S}}ition (\textbf{BOSS}) with Hybrid Counterfactual Training framework, which sheds new light on the CIR task by studying it from two previously overlooked perspectives: \emph{implicitly bottom-up composition of visiolinguistic representation} and \emph{explicitly fine-grained correspondence of query-target construction}. On the one hand, we leverage the implicit interaction and composition of cross-modal embeddings from the bottom local characteristics to the top global semantics, preserving and transforming the visual representation conditioned on language semantics in several continuous steps for effective target image search. On the other hand, we devise a hybrid counterfactual training strategy that can reduce the model's ambiguity for similar queries.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Collaborative Intelligence Orchestration: Inconsistency-Based Fusion of Semi-Supervised Learning and Active Learning

While annotating decent amounts of data to satisfy sophisticated learning models can be cost-prohibitive for many real-world applications. Active learning (AL) and semi-supervised learning (SSL) are two effective, but often isolated, means to alleviate the data-hungry problem. Some recent studies explored the potential of combining AL and SSL to better probe the unlabeled data. However, almost all these contemporary SSL-AL works use a simple combination strategy, ignoring SSL and AL's inherent relation. Further, other methods suffer from high computational costs when dealing with large-scale, high-dimensional datasets. Motivated by the industry practice of labeling data, we propose an innovative Inconsistency-based virtual aDvErsarial Active Learning (IDEAL) algorithm to further investigate SSL-AL's potential superiority and achieve mutual enhancement of AL and SSL, i.e., SSL propagates label information to unlabeled samples and provides smoothed embeddings for AL, while AL excludes samples with inconsistent predictions and considerable uncertainty for SSL. We estimate unlabeled samples' inconsistency by augmentation strategies of different granularities, including fine-grained continuous perturbation exploration and coarse-grained data transformations. Extensive experiments, in both text and image domains, validate the effectiveness of the proposed algorithm, comparing it against state-of-the-art baselines. Two real-world case studies visualize the practical industrial value of applying and deploying the proposed data sampling algorithm.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Compositional Temporal Grounding with Structured Variational Cross-Graph Correspondence Learning

Temporal grounding in videos aims to localize one target video segment that semantically corresponds to a given query sentence. Thanks to the semantic diversity of natural language descriptions, temporal grounding allows activity grounding beyond pre-defined classes and has received increasing attention in recent years. The semantic diversity is rooted in the principle of compositionality in linguistics, where novel semantics can be systematically described by combining known words in novel ways (compositional generalization). However, current temporal grounding datasets do not specifically test for the compositional generalizability. To systematically measure the compositional generalizability of temporal grounding models, we introduce a new Compositional Temporal Grounding task and construct two new dataset splits, i.e., Charades-CG and ActivityNet-CG. Evaluating the state-of-the-art methods on our new dataset splits, we empirically find that they fail to generalize to queries with novel combinations of seen words. To tackle this challenge, we propose a variational cross-graph reasoning framework that explicitly decomposes video and language into multiple structured hierarchies and learns fine-grained semantic correspondence among them. Experiments illustrate the superior compositional generalizability of our approach. The repository of this work is at https://github.com/YYJMJC/ Compositional-Temporal-Grounding.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Consensus Graph Representation Learning for Better Grounded Image Captioning

The contemporary visual captioning models frequently hallucinate objects that are not actually in a scene, due to the visual misclassification or over-reliance on priors that resulting in the semantic inconsistency between the visual information and the target lexical words. The most common way is to encourage the captioning model to dynamically link generated object words or phrases to appropriate regions of the image, i.e., the grounded image captioning (GIC). However, GIC utilizes an auxiliary task (grounding objects) that has not solved the key issue of object hallucination, i.e., the semantic inconsistency. In this paper, we take a novel perspective on the issue above - exploiting the semantic coherency between the visual and language modalities. Specifically, we propose the Consensus Rraph Representation Learning framework (CGRL) for GIC that incorporates a consensus representation into the grounded captioning pipeline. The consensus is learned by aligning the visual graph (e.g., scene graph) to the language graph that consider both the nodes and edges in a graph. With the aligned consensus, the captioning model can capture both the correct linguistic characteristics and visual relevance, and then grounding appropriate image regions further. We validate the effectiveness of our model, with a significant decline in object hallucination (-9% CHAIRi) on the Flickr30k Entities dataset. Besides, our CGRL also evaluated by several automatic metrics and human evaluation, the results indicate that the proposed approach can simultaneously improve the performance of image captioning (+2.9 Cider) and grounding (+2.3 F1LOC).

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Dilated Context Integrated Network with Cross-Modal Consensus for Temporal Emotion Localization in Videos

Understanding human emotions is a crucial ability for intelligent robots to provide better human-robot interactions. The existing works are limited to trimmed video-level emotion classification, failing to locate the temporal window corresponding to the emotion. In this paper, we introduce a new task, named Temporal Emotion Localization in videos~(TEL), which aims to detect human emotions and localize their corresponding temporal boundaries in untrimmed videos with aligned subtitles. TEL presents three unique challenges compared to temporal action localization: 1) The emotions have extremely varied temporal dynamics; 2) The emotion cues are embedded in both appearances and complex plots; 3) The fine-grained temporal annotations are complicated and labor-intensive. To address the first two challenges, we propose a novel dilated context integrated network with a coarse-fine two-stream architecture. The coarse stream captures varied temporal dynamics by modeling multi-granularity temporal contexts. The fine stream achieves complex plots understanding by reasoning the dependency between the multi-granularity temporal contexts from the coarse stream and adaptively integrates them into fine-grained video segment features. To address the third challenge, we introduce a cross-modal consensus learning paradigm, which leverages the inherent semantic consensus between the aligned video and subtitle to achieve weakly-supervised learning. We contribute a new testing set with 3,000 manually-annotated temporal boundaries so that future research on the TEL problem can be quantitatively evaluated. Extensive experiments show the effectiveness of our approach on temporal emotion localization. The repository of this work is at https://github.com/YYJMJC/Temporal-Emotion-Localization-in-Videos.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Feeding What You Need by Understanding What You Learned

Machine Reading Comprehension (MRC) reveals the ability to understand a given text passage and answer questions based on it. Existing research works in MRC rely heavily on large-size models and corpus to improve the performance evaluated by metrics such as Exact Match ($EM$) and $F_1$. However, such a paradigm lacks sufficient interpretation to model capability and can not efficiently train a model with a large corpus. In this paper, we argue that a deep understanding of model capabilities and data properties can help us feed a model with appropriate training data based on its learning status. Specifically, we design an MRC capability assessment framework that assesses model capabilities in an explainable and multi-dimensional manner. Based on it, we further uncover and disentangle the connections between various data properties and model performance. Finally, to verify the effectiveness of the proposed MRC capability assessment framework, we incorporate it into a curriculum learning pipeline and devise a Capability Boundary Breakthrough Curriculum (CBBC) strategy, which performs a model capability-based training to maximize the data value and improve training efficiency. Extensive experiments demonstrate that our approach significantly improves performance, achieving up to an 11.22% / 8.71% improvement of $EM$ / $F_1$ on MRC tasks.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

QRelScore: Better Evaluating Generated Questions with Deeper Understanding of Context-aware Relevance

Existing metrics for assessing question generation not only require costly human reference but also fail to take into account the input context of generation, rendering the lack of deep understanding of the relevance between the generated questions and input contexts. As a result, they may wrongly penalize a legitimate and reasonable candidate question when it (i) involves complicated reasoning with the context or (ii) can be grounded by multiple evidences in the context. In this paper, we propose $\textbf{QRelScore}$, a context-aware $\underline{\textbf{Rel}}$evance evaluation metric for $\underline{\textbf{Q}}$uestion Generation. Based on off-the-shelf language models such as BERT and GPT2, QRelScore employs both word-level hierarchical matching and sentence-level prompt-based generation to cope with the complicated reasoning and diverse generation from multiple evidences, respectively. Compared with existing metrics, our experiments demonstrate that QRelScore is able to achieve a higher correlation with human judgments while being much more robust to adversarial samples.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Robust Meta-learning with Sampling Noise and Label Noise via Eigen-Reptile

Recent years have seen a surge of interest in meta-learning techniques for tackling the few-shot learning (FSL) problem. However, the meta-learner is prone to overfitting since there are only a few available samples, which can be identified as sampling noise on a clean dataset. Moreover, when handling the data with noisy labels, the meta-learner could be extremely sensitive to label noise on a corrupted dataset. To address these two challenges, we present Eigen-Reptile (ER) that updates the meta-parameters with the main direction of historical task-specific parameters to alleviate sampling and label noise. Specifically, the main direction is computed in a fast way, where the scale of the calculated matrix is related to the number of gradient steps instead of the number of parameters. Furthermore, to obtain a more accurate main direction for Eigen-Reptile in the presence of many noisy labels, we further propose Introspective Self-paced Learning (ISPL). We have theoretically and experimentally demonstrated the soundness and effectiveness of the proposed Eigen-Reptile and ISPL. Particularly, our experiments on different tasks show that the proposed method is able to outperform or achieve highly competitive performance compared with other gradient-based methods with or without noisy labels. The code and data for the proposed method are provided for research purposes https://github.com/Anfeather/Eigen-Reptile.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Towards Communication-Efficient and Privacy-Preserving Federated Representation Learning

This paper investigates the feasibility of federated representation learning under the constraints of communication cost and privacy protection. Existing works either conduct annotation-guided local training which requires frequent communication or aggregates the client models via weight averaging which has potential risks of privacy exposure. To tackle the above problems, we first identify that self-supervised contrastive local training is robust against the non-identically distributed data, which provides the feasibility of longer local training and thus reduces the communication cost. Then based on the aforementioned robustness, we propose a novel Federated representation Learning framework with Ensemble Similarity Distillation~(FLESD) that utilizes this robustness. At each round of communication, the server first gathers a fraction of the clients' inferred similarity matrices on a public dataset. Then it ensembles the similarity matrices and train the global model via similarity distillation. We verify the effectiveness of FLESD by a series of empirical experiments and show that, despite stricter constraints, it achieves comparable results under multiple settings on multiple datasets.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Generating Natural Language Adversarial Examples on a Large Scale with Generative Models

Today text classification models have been widely used. However, these classifiers are found to be easily fooled by adversarial examples. Fortunately, standard attacking methods generate adversarial texts in a pair-wise way, that is, an adversarial text can only be created from a real-world text by replacing a few words. In many applications, these texts are limited in numbers, therefore their corresponding adversarial examples are often not diverse enough and sometimes hard to read, thus can be easily detected by humans and cannot create chaos at a large scale. In this paper, we propose an end to end solution to efficiently generate adversarial texts from scratch using generative models, which are not restricted to perturbing the given texts. We call it unrestricted adversarial text generation. Specifically, we train a conditional variational autoencoder (VAE) with an additional adversarial loss to guide the generation of adversarial examples. Moreover, to improve the validity of adversarial texts, we utilize discrimators and the training framework of generative adversarial networks (GANs) to make adversarial texts consistent with real data. Experimental results on sentiment analysis demonstrate the scalability and efficiency of our method. It can attack text classification models with a higher success rate than existing methods, and provide acceptable quality for humans in the meantime.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Grounded and Controllable Image Completion by Incorporating Lexical Semantics

In this paper, we present an approach, namely Lexical Semantic Image Completion (LSIC), that may have potential applications in art, design, and heritage conservation, among several others. Existing image completion procedure is highly subjective by considering only visual context, which may trigger unpredictable results which are plausible but not faithful to a grounded knowledge. To permit both grounded and controllable completion process, we advocate generating results faithful to both visual and lexical semantic context, i.e., the description of leaving holes or blank regions in the image (e.g., hole description). One major challenge for LSIC comes from modeling and aligning the structure of visual-semantic context and translating across different modalities. We term this process as structure completion, which is realized by multi-grained reasoning blocks in our model. Another challenge relates to the unimodal biases, which occurs when the model generates plausible results without using the textual description. This can be true since the annotated captions for an image are often semantically equivalent in existing datasets, and thus there is only one paired text for a masked image in training. We devise an unsupervised unpaired-creation learning path besides the over-explored paired-reconstruction path, as well as a multi-stage training strategy to mitigate the insufficiency of labeled data. We conduct extensive quantitative and qualitative experiments as well as ablation studies, which reveal the efficacy of our proposed LSIC.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

NTIRE 2020 Challenge on Real Image Denoising: Dataset, Methods and Results

This paper reviews the NTIRE 2020 challenge on real image denoising with focus on the newly introduced dataset, the proposed methods and their results. The challenge is a new version of the previous NTIRE 2019 challenge on real image denoising that was based on the SIDD benchmark. This challenge is based on a newly collected validation and testing image datasets, and hence, named SIDD+. This challenge has two tracks for quantitatively evaluating image denoising performance in (1) the Bayer-pattern rawRGB and (2) the standard RGB (sRGB) color spaces. Each track ~250 registered participants. A total of 22 teams, proposing 24 methods, competed in the final phase of the challenge. The proposed methods by the participating teams represent the current state-of-the-art performance in image denoising targeting real noisy images. The newly collected SIDD+ datasets are publicly available at: https://bit.ly/siddplus_data.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Topic Adaptation and Prototype Encoding for Few-Shot Visual Storytelling

Visual Storytelling~(VIST) is a task to tell a narrative story about a certain topic according to the given photo stream. The existing studies focus on designing complex models, which rely on a huge amount of human-annotated data. However, the annotation of VIST is extremely costly and many topics cannot be covered in the training dataset due to the long-tail topic distribution. In this paper, we focus on enhancing the generalization ability of the VIST model by considering the few-shot setting. Inspired by the way humans tell a story, we propose a topic adaptive storyteller to model the ability of inter-topic generalization. In practice, we apply the gradient-based meta-learning algorithm on multi-modal seq2seq models to endow the model the ability to adapt quickly from topic to topic. Besides, We further propose a prototype encoding structure to model the ability of intra-topic derivation. Specifically, we encode and restore the few training story text to serve as a reference to guide the generation at inference time. Experimental results show that topic adaptation and prototype encoding structure mutually bring benefit to the few-shot model on BLEU and METEOR metric. The further case study shows that the stories generated after few-shot adaptation are more relative and expressive.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Two Step Joint Model for Drug Drug Interaction Extraction

When patients need to take medicine, particularly taking more than one kind of drug simultaneously, they should be alarmed that there possibly exists drug-drug interaction. Interaction between drugs may have a negative impact on patients or even cause death. Generally, drugs that conflict with a specific drug (or label drug) are usually described in its drug label or package insert. Since more and more new drug products come into the market, it is difficult to collect such information by manual. We take part in the Drug-Drug Interaction (DDI) Extraction from Drug Labels challenge of Text Analysis Conference (TAC) 2018, choosing task1 and task2 to automatically extract DDI related mentions and DDI relations respectively. Instead of regarding task1 as named entity recognition (NER) task and regarding task2 as relation extraction (RE) task then solving it in a pipeline, we propose a two step joint model to detect DDI and it's related mentions jointly. A sequence tagging system (CNN-GRU encoder-decoder) finds precipitants first and search its fine-grained Trigger and determine the DDI for each precipitant in the second step. Moreover, a rule based model is built to determine the sub-type for pharmacokinetic interation. Our system achieved best result in both task1 and task2. F-measure reaches 0.46 in task1 and 0.40 in task2.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Unsupervised Reinforcement Learning of Transferable Meta-Skills for Embodied Navigation

Visual navigation is a task of training an embodied agent by intelligently navigating to a target object (e.g., television) using only visual observations. A key challenge for current deep reinforcement learning models lies in the requirements for a large amount of training data. It is exceedingly expensive to construct sufficient 3D synthetic environments annotated with the target object information. In this paper, we focus on visual navigation in the low-resource setting, where we have only a few training environments annotated with object information. We propose a novel unsupervised reinforcement learning approach to learn transferable meta-skills (e.g., bypass obstacles, go straight) from unannotated environments without any supervisory signals. The agent can then fast adapt to visual navigation through learning a high-level master policy to combine these meta-skills, when the visual-navigation-specified reward is provided. Evaluation in the AI2-THOR environments shows that our method significantly outperforms the baseline by 53.34% relatively on SPL, and further qualitative analysis demonstrates that our method learns transferable motor primitives for visual navigation.

0 citations0 reviewsNo code linkedOpen access