Humans naturally integrate vision and haptics for robust object perception during manipulation. The loss of either modality significantly degrades performance. Inspired by this multisensory integration, prior object pose estimation research has attempted to combine visual and haptic/tactile feedback. Although these works demonstrate improvements in controlled environments or synthetic datasets, they often underperform vision-only approaches in real-world settings due to poor generalization across diverse grippers, sensor layouts, or sim-to-real environments. Furthermore, they typically estimate the object pose for each frame independently, resulting in less coherent tracking over sequences in real-world deployments. To address these limitations, we introduce a novel unified haptic representation that effectively handles multiple gripper embodiments. Building on this representation, we introduce a new visuo-haptic transformer-based object pose tracker that seamlessly integrates visual and haptic input. We validate our framework in our dataset and the Feelsight dataset, demonstrating significant performance improvement on challenging sequences. Notably, our method achieves superior generalization and robustness across novel embodiments, objects, and sensor types (both taxel-based and vision-based tactile sensors). In real-world experiments, we demonstrate that our approach outperforms state-of-the-art visual trackers by a large margin. We further show that we can achieve precise manipulation tasks by incorporating our real-time object tracking result into motion plans, underscoring the advantages of visuo-haptic perception. Our model and dataset will be made open source upon acceptance of the paper. Project website: https://lhy.xyz/projects/v-hop/

Catastrophic Forgetting (CF) means models forgetting previously acquired knowledge when learning new data. It compromises the effectiveness of large language models (LLMs) during fine-tuning, yet the underlying causes have not been thoroughly investigated. This paper takes the first step to reveal the direct link between the flatness of the model loss landscape and the extent of CF in the field of LLMs. Based on this, we introduce the sharpness-aware minimization to mitigate CF by flattening the loss landscape. Experiments on three widely-used fine-tuning datasets, spanning different model scales, demonstrate the effectiveness of our method in alleviating CF. Analyses show that we nicely complement the existing anti-forgetting strategies, further enhancing the resistance of LLMs to CF.

Obstacle detection and tracking represent a critical component in robot autonomous navigation. In this paper, we propose ODTFormer, a Transformer-based model to address both obstacle detection and tracking problems. For the detection task, our approach leverages deformable attention to construct a 3D cost volume, which is decoded progressively in the form of voxel occupancy grids. We further track the obstacles by matching the voxels between consecutive frames. The entire model can be optimized in an end-to-end manner. Through extensive experiments on DrivingStereo and KITTI benchmarks, our model achieves state-of-the-art performance in the obstacle detection task. We also report comparable accuracy to state-of-the-art obstacle tracking models while requiring only a fraction of their computation cost, typically ten-fold to twenty-fold less. The code and model weights will be publicly released.

Visual navigation has received significant attention recently. Most of the prior works focus on predicting navigation actions based on semantic features extracted from visual encoders. However, these approaches often rely on large datasets and exhibit limited generalizability. In contrast, our approach draws inspiration from traditional navigation planners that operate on geometric representations, such as occupancy maps. We propose StereoNavNet (SNN), a novel visual navigation approach employing a modular learning framework comprising perception and policy modules. Within the perception module, we estimate an auxiliary 3D voxel occupancy grid from stereo RGB images and extract geometric features from it. These features, along with user-defined goals, are utilized by the policy module to predict navigation actions. Through extensive empirical evaluation, we demonstrate that SNN outperforms baseline approaches in terms of success rates, success weighted by path length, and navigation error. Furthermore, SNN exhibits better generalizability, characterized by maintaining leading performance when navigating across previously unseen environments.

Learning for robot navigation presents a critical and challenging task. The scarcity and costliness of real-world datasets necessitate efficient learning approaches. In this letter, we exploit Euclidean symmetry in planning for 2D navigation, which originates from Euclidean transformations between reference frames and enables parameter sharing. To address the challenges of unstructured environments, we formulate the navigation problem as planning on a geometric graph and develop an equivariant message passing network to perform value iteration. Furthermore, to handle multi-camera input, we propose a learnable equivariant layer to lift features to a desired space. We conduct comprehensive evaluations across five diverse tasks encompassing structured and unstructured environments, along with maps of known and unknown, given point goals or semantic goals. Our experiments confirm the substantial benefits on training efficiency, stability, and generalization. More details can be found at the project website: https://lhy.xyz/e2-planning/.

This paper launches a thorough discussion on the locality of local neural operator (LNO), which is the core that enables LNO great flexibility on varied computational domains in solving transient partial differential equations (PDEs). We investigate the locality of LNO by looking into its receptive field and receptive range, carrying a main concern about how the locality acts in LNO training and applications. In a large group of LNO training experiments for learning fluid dynamics, it is found that an initial receptive range compatible with the learning task is crucial for LNO to perform well. On the one hand, an over-small receptive range is fatal and usually leads LNO to numerical oscillation; on the other hand, an over-large receptive range hinders LNO from achieving the best accuracy. We deem rules found in this paper general when applying LNO to learn and solve transient PDEs in diverse fields. Practical examples of applying the pre-trained LNOs in flow prediction are presented to confirm the findings further. Overall, with the architecture properly designed with a compatible receptive range, the pre-trained LNO shows commendable accuracy and efficiency in solving practical cases.

In this letter, we introduce ViHOPE, a novel framework for estimating the 6D pose of an in-hand object using visuotactile perception. Our key insight is that the accuracy of the 6D object pose estimate can be improved by explicitly completing the shape of the object. To this end, we introduce a novel visuotactile shape completion module that uses a conditional Generative Adversarial Network to complete the shape of an in-hand object based on volumetric representation. This approach improves over prior works that directly regress visuotactile observations to a 6D pose. By explicitly completing the shape of the in-hand object and jointly optimizing the shape completion and pose estimation tasks, we improve the accuracy of the 6D object pose estimate. We train and test our model on a synthetic dataset and compare it with the state-of-the-art. In the visuotactile shape completion task, we outperform the state-of-the-art by 265% using the Intersection of Union metric and achieve 88% lower Chamfer Distance. In the visuotactile pose estimation task, we present results that suggest our framework reduces position and angular errors by 35% and 64%, respectively. Furthermore, we ablate our framework to confirm the gain on the 6D object pose estimate from explicitly completing the shape. Ultimately, we show that our framework produces models that are robust to sim-to-real transfer on a real-world robot platform.

Artificial intelligence (AI) shows great potential to reduce the huge cost of solving partial differential equations (PDEs). However, it is not fully realized in practice as neural networks are defined and trained on fixed domains and boundaries. Herein, we propose local neural operator (LNO) for solving transient PDEs on varied domains. It comes together with a handy strategy including boundary treatments, enabling one pre-trained LNO to predict solutions on different domains. For demonstration, LNO learns Navier-Stokes equations from randomly generated data samples, and then the pre-trained LNO is used as an explicit numerical time-marching scheme to solve the flow of fluid on unseen domains, e.g., the flow in a lid-driven cavity and the flow across the cascade of airfoils. It is about 1000$\times$ faster than the conventional finite element method to calculate the flow across the cascade of airfoils. The solving process with pre-trained LNO achieves great efficiency, with significant potential to accelerate numerical calculations in practice.

Catching and attributing code change-induced performance regressions in production is hard; predicting them beforehand, even harder. A primer on automatically learning to predict performance regressions in software, this article gives an account of the experiences we gained when researching and deploying an ML-based regression prediction pipeline at Meta. In this paper, we report on a comparative study with four ML models of increasing complexity, from (1) code-opaque, over (2) Bag of Words, (3) off-the-shelve Transformer-based, to (4) a bespoke Transformer-based model, coined SuperPerforator. Our investigation shows the inherent difficulty of the performance prediction problem, which is characterized by a large imbalance of benign onto regressing changes. Our results also call into question the general applicability of Transformer-based architectures for performance prediction: an off-the-shelve CodeBERT-based approach had surprisingly poor performance; our highly customized SuperPerforator architecture initially achieved prediction performance that was just on par with simpler Bag of Words models, and only outperformed them for down-stream use cases. This ability of SuperPerforator to transfer to an application with few learning examples afforded an opportunity to deploy it in practice at Meta: it can act as a pre-filter to sort out changes that are unlikely to introduce a regression, truncating the space of changes to search a regression in by up to 43%, a 45x improvement over a random baseline. To gain further insight into SuperPerforator, we explored it via a series of experiments computing counterfactual explanations. These highlight which parts of a code change the model deems important, thereby validating the learned black-box model.

Obstacle detection is a safety-critical problem in robot navigation, where stereo matching is a popular vision-based approach. While deep neural networks have shown impressive results in computer vision, most of the previous obstacle detection works only leverage traditional stereo matching techniques to meet the computational constraints for real-time feedback. This paper proposes a computationally efficient method that employs a deep neural network to detect occupancy from stereo images directly. Instead of learning the point cloud correspondence from the stereo data, our approach extracts the compact obstacle distribution based on volumetric representations. In addition, we prune the computation of safety irrelevant spaces in a coarse-to-fine manner based on octrees generated by the decoder. As a result, we achieve real-time performance on the onboard computer (NVIDIA Jetson TX2). Our approach detects obstacles accurately in the range of 32 meters and achieves better IoU (Intersection over Union) and CD (Chamfer Distance) scores with only 2% of the computation cost of the state-of-the-art stereo model. Furthermore, we validate our method's robustness and real-world feasibility through autonomous navigation experiments with a real robot. Hence, our work contributes toward closing the gap between the stereo-based system in robot perception and state-of-the-art stereo models in computer vision. To counter the scarcity of high-quality real-world indoor stereo datasets, we collect a 1.36 hours stereo dataset with a mobile robot which is used to fine-tune our model. The dataset, the code, and further details including additional visualizations are available at https://lhy.xyz/stereovoxelnet