Towards Urban General Intelligence: A Review and Outlook of Urban Foundation Models

Machine learning techniques are now integral to the advancement of intelligent urban services, playing a crucial role in elevating the efficiency, sustainability, and livability of urban environments. The recent emergence of foundation models such as ChatGPT marks a revolutionary shift in the fields of machine learning and artificial intelligence. Their unparalleled capabilities in contextual understanding, problem solving, and adaptability across a wide range of tasks suggest that integrating these models into urban domains could have a transformative impact on the development of smart cities. Despite growing interest in Urban Foundation Models~(UFMs), this burgeoning field faces challenges such as a lack of clear definitions, systematic reviews, and universalizable solutions. To this end, this paper first introduces the concept of UFM and discusses the unique challenges involved in building them. We then propose a data-centric taxonomy that categorizes current UFM-related works, based on urban data modalities and types. Furthermore, to foster advancement in this field, we present a promising framework aimed at the prospective realization of UFMs, designed to overcome the identified challenges. Additionally, we explore the application landscape of UFMs, detailing their potential impact in various urban contexts. Relevant papers and open-source resources have been collated and are continuously updated at https://github.com/usail-hkust/Awesome-Urban-Foundation-Models

Domain Randomization and Generative Models for Robotic Grasping

Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object instances, and as a result generalization can be a challenge. In this work, we explore a novel data generation pipeline for training a deep neural network to perform grasp planning that applies the idea of domain randomization to object synthesis. We generate millions of unique, unrealistic procedurally generated objects, and train a deep neural network to perform grasp planning on these objects. Since the distribution of successful grasps for a given object can be highly multimodal, we propose an autoregressive grasp planning model that maps sensor inputs of a scene to a probability distribution over possible grasps. This model allows us to sample grasps efficiently at test time (or avoid sampling entirely). We evaluate our model architecture and data generation pipeline in simulation and the real world. We find we can achieve a $>$90% success rate on previously unseen realistic objects at test time in simulation despite having only been trained on random objects. We also demonstrate an 80% success rate on real-world grasp attempts despite having only been trained on random simulated objects.Comment: 8 pages, 11 figures. Submitted to 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018

PowMix: A Versatile Regularizer for Multimodal Sentiment Analysis

Multimodal sentiment analysis (MSA) leverages heterogeneous data sources to interpret the complex nature of human sentiments. Despite significant progress in multimodal architecture design, the field lacks comprehensive regularization methods. This paper introduces PowMix, a versatile embedding space regularizer that builds upon the strengths of unimodal mixing-based regularization approaches and introduces novel algorithmic components that are specifically tailored to multimodal tasks. PowMix is integrated before the fusion stage of multimodal architectures and facilitates intra-modal mixing, such as mixing text with text, to act as a regularizer. PowMix consists of five components: 1) a varying number of generated mixed examples, 2) mixing factor reweighting, 3) anisotropic mixing, 4) dynamic mixing, and 5) cross-modal label mixing. Extensive experimentation across benchmark MSA datasets and a broad spectrum of diverse architectural designs demonstrate the efficacy of PowMix, as evidenced by consistent performance improvements over baselines and existing mixing methods. An in-depth ablation study highlights the critical contribution of each PowMix component and how they synergistically enhance performance. Furthermore, algorithmic analysis demonstrates how PowMix behaves in different scenarios, particularly comparing early versus late fusion architectures. Notably, PowMix enhances overall performance without sacrificing model robustness or magnifying text dominance. It also retains its strong performance in situations of limited data. Our findings position PowMix as a promising versatile regularization strategy for MSA. Code will be made available.Comment: Preprin