One of the long-term challenges of robotics is to enable humans to communicate with robots about the world. It is essential if they are to collaborate. Humans are visual animals, and we communicate primarily through language, so human-robot communication is inevitably at least partly a vision-and-language problem. This has motivated both Referring Expression datasets, and Vision and Language Navigation datasets. These partition the problem into that of identifying an object of interest, or navigating to another location. Many of the most appealing uses of robots, however, require communication about remote objects and thus do not reflect the dichotomy in the datasets. We thus propose the first Remote Embodied Referring Expression dataset of natural language references to remote objects in real images. Success requires navigating through a previously unseen environment to select an object identified through general natural language. This represents a complex challenge, but one that closely reflects one of the core visual problems in robotics. A Navigator-Pointer model which provides a strong baseline on the task is also proposed.
The referring expression task aims to localise an object in an image given a natural language description. Recent works cast this task as looking for the object that can generate its paired expressions @cite_7 @cite_31 @cite_12 or jointly embedding the image and expression for matching estimation @cite_32 @cite_9 @cite_5 @cite_13 . Yu al @cite_12 propose to compute the appearance difference of the same category objects to enhance the visual features for expression generation. Instead of treating expressions as a unit, @cite_13 learns a language attention model to decompose expressions into appearance, location, and object relationship for each component.
@cite_7 @cite_9 @cite_32 @cite_5 @cite_31 @cite_13 @cite_12
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Humans refer to objects in their environments all the time, especially in dialogue with other people. We explore generating and comprehending natural language referring expressions for objects in images. In particular, we focus on incorporating better measures of visual context into referring expression models and find that visual comparison to other objects within an image helps improve performance significantly. We also develop methods to tie the language generation process together, so that we generate expressions for all objects of a particular category jointly. Evaluation on three recent datasets - RefCOCO, RefCOCO+, and RefCOCOg (Datasets and toolbox can be downloaded from https: github.com lichengunc refer), shows the advantages of our methods for both referring expression generation and comprehension. We consider generation and comprehension of natural language referring expression for objects in an image. Unlike generic image captioning which lacks natural standard evaluation criteria, quality of a referring expression may be measured by the receivers ability to correctly infer which object is being described. Following this intuition, we propose two approaches to utilize models trained for comprehension task to generate better expressions. First, we use a comprehension module trained on human-generated expressions, as a critic of referring expression generator. The comprehension module serves as a differentiable proxy of human evaluation, providing training signal to the generation module. Second, we use the comprehension model in a generate-and-rerank pipeline, which chooses from candidate expressions generated by a model according to their performance on the comprehension task. We show that both approaches lead to improved referring expression generation on multiple benchmark datasets. Most existing work that grounds natural language phrases in images starts with the assumption that the phrase in question is relevant to the image. In this paper we address a more realistic version of the natural language grounding task where we must both identify whether the phrase is relevant to an image and localize the phrase. This can also be viewed as a generalization of object detection to an open-ended vocabulary, essentially introducing elements of few- and zero-shot detection. We propose a Phrase R-CNN network for this task that extends Faster R-CNN to relate image regions and phrases. By carefully initializing the classification layers of our network using canonical correlation analysis (CCA), we encourage a solution that is more discerning when reasoning between similar phrases, resulting in over double the performance compared to a naive adaptation on two popular phrase grounding datasets, Flickr30K Entities and ReferIt Game, with test-time phrase vocabulary sizes of 5K and 39K, respectively. We focus on grounding (i.e., localizing or linking) referring expressions in images, e.g., "largest elephant standing behind baby elephant". This is a general yet challenging vision-language task since it does not only require the localization of objects, but also the multimodal comprehension of context - visual attributes (e.g., "largest", "baby") and relationships (e.g., "behind") that help to distinguish the referent from other objects, especially those of the same category. Due to the exponential complexity involved in modeling the context associated with multiple image regions, existing work oversimplifies this task to pairwise region modeling by multiple instance learning. In this paper, we propose a variational Bayesian method, called Variational Context, to solve the problem of complex context modeling in referring expression grounding. Our model exploits the reciprocal relation between the referent and context, i.e., either of them influences estimation of the posterior distribution of the other, and thereby the search space of context can be greatly reduced. We also extend the model to unsupervised setting where no annotation for the referent is available. Extensive experiments on various benchmarks show consistent improvement over state-of-the-art methods in both supervised and unsupervised settings. The code is available at https: github.com yuleiniu vc .