Visual planning simulates how humans make decisions to achieve desired goals in the form of searching for visual causal transitions between an initial visual state and a final visual goal state. It has become increasingly important in egocentric vision with its advantages in guiding agents to perform daily tasks in complex environments. In this paper, we propose an interpretable and generalizable visual planning framework consisting of i) a novel Substitution-based Concept Learner (SCL) that abstracts visual inputs into disentangled concept representations, ii) symbol abstraction and reasoning that performs task planning via the learned symbols, and iii) a Visual Causal Transition model (ViCT) that grounds visual causal transitions to semantically similar real-world actions. Given an initial state, we perform goal-conditioned visual planning with a symbolic reasoning method fueled by the learned representations and causal transitions to reach the goal state. To verify the effectiveness of the proposed model, we collect a large-scale visual planning dataset based on AI2-THOR, dubbed as CCTP. Extensive experiments on this challenging dataset demonstrate the superior performance of our method in visual planning. Empirically, we show that our framework can generalize to unseen task trajectories, unseen object categories, and real-world data. Further details of this work are provided at https://fqyqc.github.io/ConTranPlan/.

Generative models based on flow matching have attracted significant attention for their simplicity and superior performance in high-resolution image synthesis. By leveraging the instantaneous change-of-variables formula, one can directly compute image likelihoods from a learned flow, making them enticing candidates as priors for downstream tasks such as inverse problems. In particular, a natural approach would be to incorporate such image probabilities in a maximum-a-posteriori (MAP) estimation problem. A major obstacle, however, lies in the slow computation of the log-likelihood, as it requires backpropagating through an ODE solver, which can be prohibitively slow for high-dimensional problems. In this work, we propose an iterative algorithm to approximate the MAP estimator efficiently to solve a variety of linear inverse problems. Our algorithm is mathematically justified by the observation that the MAP objective can be approximated by a sum of $N$ ``local MAP'' objectives, where $N$ is the number of function evaluations. By leveraging Tweedie's formula, we show that we can perform gradient steps to sequentially optimize these objectives. We validate our approach for various linear inverse problems, such as super-resolution, deblurring, inpainting, and compressed sensing, and demonstrate that we can outperform other methods based on flow matching. Code is available at \url{https://github.com/YasminZhang/ICTM}.

This paper presents UltraEdit, a large-scale (~ 4M editing samples), automatically generated dataset for instruction-based image editing. Our key idea is to address the drawbacks in existing image editing datasets like InstructPix2Pix and MagicBrush, and provide a systematic approach to producing massive and high-quality image editing samples: 1) UltraEdit includes more diverse editing instructions by combining LLM creativity and in-context editing examples by human raters; 2) UltraEdit is anchored on real images (photographs or artworks), which offers more diversity and less biases than those purely synthesized by text-to-image models; 3) UltraEdit supports region-based editing with high-quality, automatically produced region annotations. Our experiments show that canonical diffusion-based editing baselines trained on UltraEdit set new records on challenging MagicBrush and Emu-Edit benchmarks, respectively. Our analysis further confirms the crucial role of real image anchors and region-based editing data. The dataset, code, and models will be made public.

Latent space EBMs, also known as energy-based priors, have drawn growing interests in the field of generative modeling due to its flexibility in the formulation and strong modeling power of the latent space. However, the common practice of learning latent space EBMs with non-convergent short-run MCMC for prior and posterior sampling is hindering the model from further progress; the degenerate MCMC sampling quality in practice often leads to degraded generation quality and instability in training, especially with highly multi-modal and/or high-dimensional target distributions. To remedy this sampling issue, in this paper we introduce a simple but effective diffusion-based amortization method for long-run MCMC sampling and develop a novel learning algorithm for the latent space EBM based on it. We provide theoretical evidence that the learned amortization of MCMC is a valid long-run MCMC sampler. Experiments on several image modeling benchmark datasets demonstrate the superior performance of our method compared with strong counterparts.

Latent space Energy-Based Models (EBMs), also known as energy-based priors, have drawn growing interests in generative modeling. Fueled by its flexibility in the formulation and strong modeling power of the latent space, recent works built upon it have made interesting attempts aiming at the interpretability of text modeling. However, latent space EBMs also inherit some flaws from EBMs in data space; the degenerate MCMC sampling quality in practice can lead to poor generation quality and instability in training, especially on data with complex latent structures. Inspired by the recent efforts that leverage diffusion recovery likelihood learning as a cure for the sampling issue, we introduce a novel symbiosis between the diffusion models and latent space EBMs in a variational learning framework, coined as the latent diffusion energy-based model. We develop a geometric clustering-based regularization jointly with the information bottleneck to further improve the quality of the learned latent space. Experiments on several challenging tasks demonstrate the superior performance of our model on interpretable text modeling over strong counterparts.

We present Deep Region Competition (DRC), an algorithm designed to extract foreground objects from images in a fully unsupervised manner. Foreground extraction can be viewed as a special case of generic image segmentation that focuses on identifying and disentangling objects from the background. In this work, we rethink the foreground extraction by reconciling energy-based prior with generative image modeling in the form of Mixture of Experts (MoE), where we further introduce the learned pixel re-assignment as the essential inductive bias to capture the regularities of background regions. With this modeling, the foreground-background partition can be naturally found through Expectation-Maximization (EM). We show that the proposed method effectively exploits the interaction between the mixture components during the partitioning process, which closely connects to region competition, a seminal approach for generic image segmentation. Experiments demonstrate that DRC exhibits more competitive performances on complex real-world data and challenging multi-object scenes compared with prior methods. Moreover, we show empirically that DRC can potentially generalize to novel foreground objects even from categories unseen during training.

Soft robots offer significant advantages in adaptability, safety, and dexterity compared to conventional rigid-body robots. However, it is challenging to equip soft robots with accurate proprioception and tactile sensing due to their high flexibility and elasticity. In this work, we describe the development of a vision-based proprioceptive and tactile sensor for soft robots called GelFlex, which is inspired by previous GelSight sensing techniques. More specifically, we develop a novel exoskeleton-covered soft finger with embedded cameras and deep learning methods that enable high-resolution proprioceptive sensing and rich tactile sensing. To do so, we design features along the axial direction of the finger, which enable high-resolution proprioceptive sensing, and incorporate a reflective ink coating on the surface of the finger to enable rich tactile sensing. We design a highly underactuated exoskeleton with a tendon-driven mechanism to actuate the finger. Finally, we assemble 2 of the fingers together to form a robotic gripper and successfully perform a bar stock classification task, which requires both shape and tactile information. We train neural networks for proprioception and shape (box versus cylinder) classification using data from the embedded sensors. The proprioception CNN had over 99% accuracy on our testing set (all six joint angles were within 1° of error) and had an average accumulative distance error of 0.77 mm during live testing, which is better than human finger proprioception. These proposed techniques offer soft robots the high-level ability to simultaneously perceive their proprioceptive state and peripheral environment, providing potential solutions for soft robots to solve everyday manipulation tasks. We believe the methods developed in this work can be widely applied to different designs and applications.