Action-Conditioned Contrastive Policy Pretraining

Deep visuomotor policy learning achieves promising results in control tasks such as robotic manipulation and autonomous driving, where the action is generated from the visual input by the neural policy. However, it requires a huge number of online interactions with the training environment, which limits its real-world application. Compared to the popular unsupervised feature learning for visual recognition, feature pretraining for visuomotor control tasks is much less explored. In this work, we aim to pretrain policy representations for driving tasks using hours-long uncurated YouTube videos. A new contrastive policy pretraining method is developed to learn action-conditioned features from video frames with action pseudo labels. Experiments show that the resulting action-conditioned features bring substantial improvements to the downstream reinforcement learning and imitation learning tasks, outperforming the weights pretrained from previous unsupervised learning methods. Code and models will be made publicly available

Chiral Dirac-like fermion in spin-orbit-free antiferromagnetic semimetals

Dirac semimetal is a phase of matter, whose elementary excitation is described by the relativistic Dirac equation. In the limit of zero mass, its parity-time symmetry enforces the Dirac fermion in the momentum space, which is composed of two Weyl fermions with opposite chirality, to be non-chiral. Inspired by the flavor symmetry in particle physics, we theoretically propose a massless Dirac-like equation yet linking two Weyl fields with the identical chirality by assuming SU(2) isospin symmetry, independent of the space-time rotation exchanging the two fields. Dramatically, such symmetry is hidden in certain solid-state spin-1/2 systems with negligible spin-orbit coupling, where the spin degree of freedom is decoupled with the lattice. Therefore, the existence of the corresponding quasiparticle, dubbed as flavor Weyl fermion, cannot be explained by the conventional (magnetic) space group framework. The four-fold degenerate flavor Weyl fermion manifests linear dispersion and a Chern number of 2, leading to a robust network of topologically protected Fermi arcs throughout the Brillouin zone. For material realization, we show that the transition-metal chalcogenide CoNb3S6 with experimentally confirmed collinear antiferromagnetic order is ideal for flavor Weyl semimetal under the approximation of vanishing spin-orbit coupling. Our work reveals a counterpart of the flavor symmetry in magnetic electronic systems, leading to further possibilities of emergent phenomena in quantum materials.Comment: 27 pages and 5 figure

Sudowoodo: a Chinese Lyric Imitation System with Source Lyrics

Lyrics generation is a well-known application in natural language generation research, with several previous studies focusing on generating accurate lyrics using precise control such as keywords, rhymes, etc. However, lyrics imitation, which involves writing new lyrics by imitating the style and content of the source lyrics, remains a challenging task due to the lack of a parallel corpus. In this paper, we introduce \textbf{\textit{Sudowoodo}}, a Chinese lyrics imitation system that can generate new lyrics based on the text of source lyrics. To address the issue of lacking a parallel training corpus for lyrics imitation, we propose a novel framework to construct a parallel corpus based on a keyword-based lyrics model from source lyrics. Then the pairs \textit{(new lyrics, source lyrics)} are used to train the lyrics imitation model. During the inference process, we utilize a post-processing module to filter and rank the generated lyrics, selecting the highest-quality ones. We incorporated audio information and aligned the lyrics with the audio to form the songs as a bonus. The human evaluation results show that our framework can perform better lyric imitation. Meanwhile, the \textit{Sudowoodo} system and demo video of the system is available at \href{https://Sudowoodo.apps-hp.danlu.netease.com/}{Sudowoodo} and \href{https://youtu.be/u5BBT_j1L5M}{https://youtu.be/u5BBT\_j1L5M}.Comment: 7 pages,3 figures, submit to emnlp 2023 demo trac