arXiv subjects

Peter Anderson

Publications and source records attributed to Peter Anderson.

31 records · Page 2Linked to original sources

arXiv2020

REVERIE: Remote Embodied Visual Referring Expression in Real Indoor Environments

One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability to perform a wide variety of complex tasks in response to multifarious instructions from humans. In the hope that it might drive progress towards more flexible and powerful human interactions with robots, we propose a dataset of varied and complex robot tasks, described in natural language, in terms of objects visible in a large set of real images. Given an instruction, success requires navigating through a previously-unseen environment to identify an object. This represents a practical challenge, but one that closely reflects one of the core visual problems in robotics. Several state-of-the-art vision-and-language navigation, and referring-expression models are tested to verify the difficulty of this new task, but none of them show promising results because there are many fundamental differences between our task and previous ones. A novel Interactive Navigator-Pointer model is also proposed that provides a strong baseline on the task. The proposed model especially achieves the best performance on the unseen test split, but still leaves substantial room for improvement compared to the human performance.

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arXiv2019

Chasing Ghosts: Instruction Following as Bayesian State Tracking

A visually-grounded navigation instruction can be interpreted as a sequence of expected observations and actions an agent following the correct trajectory would encounter and perform. Based on this intuition, we formulate the problem of finding the goal location in Vision-and-Language Navigation (VLN) within the framework of Bayesian state tracking - learning observation and motion models conditioned on these expectable events. Together with a mapper that constructs a semantic spatial map on-the-fly during navigation, we formulate an end-to-end differentiable Bayes filter and train it to identify the goal by predicting the most likely trajectory through the map according to the instructions. The resulting navigation policy constitutes a new approach to instruction following that explicitly models a probability distribution over states, encoding strong geometric and algorithmic priors while enabling greater explainability. Our experiments show that our approach outperforms a strong LingUNet baseline when predicting the goal location on the map. On the full VLN task, i.e. navigating to the goal location, our approach achieves promising results with less reliance on navigation constraints.

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arXiv2019

nocaps: novel object captioning at scale

Image captioning models have achieved impressive results on datasets containing limited visual concepts and large amounts of paired image-caption training data. However, if these models are to ever function in the wild, a much larger variety of visual concepts must be learned, ideally from less supervision. To encourage the development of image captioning models that can learn visual concepts from alternative data sources, such as object detection datasets, we present the first large-scale benchmark for this task. Dubbed 'nocaps', for novel object captioning at scale, our benchmark consists of 166,100 human-generated captions describing 15,100 images from the OpenImages validation and test sets. The associated training data consists of COCO image-caption pairs, plus OpenImages image-level labels and object bounding boxes. Since OpenImages contains many more classes than COCO, nearly 400 object classes seen in test images have no or very few associated training captions (hence, nocaps). We extend existing novel object captioning models to establish strong baselines for this benchmark and provide analysis to guide future work on this task.

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arXiv2019

Audio-Visual Scene-Aware Dialog

We introduce the task of scene-aware dialog. Our goal is to generate a complete and natural response to a question about a scene, given video and audio of the scene and the history of previous turns in the dialog. To answer successfully, agents must ground concepts from the question in the video while leveraging contextual cues from the dialog history. To benchmark this task, we introduce the Audio Visual Scene-Aware Dialog (AVSD) Dataset. For each of more than 11,000 videos of human actions from the Charades dataset, our dataset contains a dialog about the video, plus a final summary of the video by one of the dialog participants. We train several baseline systems for this task and evaluate the performance of the trained models using both qualitative and quantitative metrics. Our results indicate that models must utilize all the available inputs (video, audio, question, and dialog history) to perform best on this dataset.

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arXiv2019

Face-Cap: Image Captioning using Facial Expression Analysis

Image captioning is the process of generating a natural language description of an image. Most current image captioning models, however, do not take into account the emotional aspect of an image, which is very relevant to activities and interpersonal relationships represented therein. Towards developing a model that can produce human-like captions incorporating these, we use facial expression features extracted from images including human faces, with the aim of improving the descriptive ability of the model. In this work, we present two variants of our Face-Cap model, which embed facial expression features in different ways, to generate image captions. Using all standard evaluation metrics, our Face-Cap models outperform a state-of-the-art baseline model for generating image captions when applied to an image caption dataset extracted from the standard Flickr 30K dataset, consisting of around 11K images containing faces. An analysis of the captions finds that, perhaps surprisingly, the improvement in caption quality appears to come not from the addition of adjectives linked to emotional aspects of the images, but from more variety in the actions described in the captions.

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arXiv2018

Partially-Supervised Image Captioning

Image captioning models are becoming increasingly successful at describing the content of images in restricted domains. However, if these models are to function in the wild - for example, as assistants for people with impaired vision - a much larger number and variety of visual concepts must be understood. To address this problem, we teach image captioning models new visual concepts from labeled images and object detection datasets. Since image labels and object classes can be interpreted as partial captions, we formulate this problem as learning from partially-specified sequence data. We then propose a novel algorithm for training sequence models, such as recurrent neural networks, on partially-specified sequences which we represent using finite state automata. In the context of image captioning, our method lifts the restriction that previously required image captioning models to be trained on paired image-sentence corpora only, or otherwise required specialized model architectures to take advantage of alternative data modalities. Applying our approach to an existing neural captioning model, we achieve state of the art results on the novel object captioning task using the COCO dataset. We further show that we can train a captioning model to describe new visual concepts from the Open Images dataset while maintaining competitive COCO evaluation scores.

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arXiv2018

On Evaluation of Embodied Navigation Agents

Skillful mobile operation in three-dimensional environments is a primary topic of study in Artificial Intelligence. The past two years have seen a surge of creative work on navigation. This creative output has produced a plethora of sometimes incompatible task definitions and evaluation protocols. To coordinate ongoing and future research in this area, we have convened a working group to study empirical methodology in navigation research. The present document summarizes the consensus recommendations of this working group. We discuss different problem statements and the role of generalization, present evaluation measures, and provide standard scenarios that can be used for benchmarking.

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arXiv2018

Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments

A robot that can carry out a natural-language instruction has been a dream since before the Jetsons cartoon series imagined a life of leisure mediated by a fleet of attentive robot helpers. It is a dream that remains stubbornly distant. However, recent advances in vision and language methods have made incredible progress in closely related areas. This is significant because a robot interpreting a natural-language navigation instruction on the basis of what it sees is carrying out a vision and language process that is similar to Visual Question Answering. Both tasks can be interpreted as visually grounded sequence-to-sequence translation problems, and many of the same methods are applicable. To enable and encourage the application of vision and language methods to the problem of interpreting visually-grounded navigation instructions, we present the Matterport3D Simulator -- a large-scale reinforcement learning environment based on real imagery. Using this simulator, which can in future support a range of embodied vision and language tasks, we provide the first benchmark dataset for visually-grounded natural language navigation in real buildings -- the Room-to-Room (R2R) dataset.

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arXiv2018

Bottom-Up and Top-Down Attention for Image Captioning and Visual Question Answering

Top-down visual attention mechanisms have been used extensively in image captioning and visual question answering (VQA) to enable deeper image understanding through fine-grained analysis and even multiple steps of reasoning. In this work, we propose a combined bottom-up and top-down attention mechanism that enables attention to be calculated at the level of objects and other salient image regions. This is the natural basis for attention to be considered. Within our approach, the bottom-up mechanism (based on Faster R-CNN) proposes image regions, each with an associated feature vector, while the top-down mechanism determines feature weightings. Applying this approach to image captioning, our results on the MSCOCO test server establish a new state-of-the-art for the task, achieving CIDEr / SPICE / BLEU-4 scores of 117.9, 21.5 and 36.9, respectively. Demonstrating the broad applicability of the method, applying the same approach to VQA we obtain first place in the 2017 VQA Challenge.

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arXiv2017

Tips and Tricks for Visual Question Answering: Learnings from the 2017 Challenge

This paper presents a state-of-the-art model for visual question answering (VQA), which won the first place in the 2017 VQA Challenge. VQA is a task of significant importance for research in artificial intelligence, given its multimodal nature, clear evaluation protocol, and potential real-world applications. The performance of deep neural networks for VQA is very dependent on choices of architectures and hyperparameters. To help further research in the area, we describe in detail our high-performing, though relatively simple model. Through a massive exploration of architectures and hyperparameters representing more than 3,000 GPU-hours, we identified tips and tricks that lead to its success, namely: sigmoid outputs, soft training targets, image features from bottom-up attention, gated tanh activations, output embeddings initialized using GloVe and Google Images, large mini-batches, and smart shuffling of training data. We provide a detailed analysis of their impact on performance to assist others in making an appropriate selection.

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arXiv2017

Guided Open Vocabulary Image Captioning with Constrained Beam Search

Existing image captioning models do not generalize well to out-of-domain images containing novel scenes or objects. This limitation severely hinders the use of these models in real world applications dealing with images in the wild. We address this problem using a flexible approach that enables existing deep captioning architectures to take advantage of image taggers at test time, without re-training. Our method uses constrained beam search to force the inclusion of selected tag words in the output, and fixed, pretrained word embeddings to facilitate vocabulary expansion to previously unseen tag words. Using this approach we achieve state of the art results for out-of-domain captioning on MSCOCO (and improved results for in-domain captioning). Perhaps surprisingly, our results significantly outperform approaches that incorporate the same tag predictions into the learning algorithm. We also show that we can significantly improve the quality of generated ImageNet captions by leveraging ground-truth labels.

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arXiv2016

SPICE: Semantic Propositional Image Caption Evaluation

There is considerable interest in the task of automatically generating image captions. However, evaluation is challenging. Existing automatic evaluation metrics are primarily sensitive to n-gram overlap, which is neither necessary nor sufficient for the task of simulating human judgment. We hypothesize that semantic propositional content is an important component of human caption evaluation, and propose a new automated caption evaluation metric defined over scene graphs coined SPICE. Extensive evaluations across a range of models and datasets indicate that SPICE captures human judgments over model-generated captions better than other automatic metrics (e.g., system-level correlation of 0.88 with human judgments on the MS COCO dataset, versus 0.43 for CIDEr and 0.53 for METEOR). Furthermore, SPICE can answer questions such as `which caption-generator best understands colors?' and `can caption-generators count?'

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arXiv2016

On Differentiating Parameterized Argmin and Argmax Problems with Application to Bi-level Optimization

Some recent works in machine learning and computer vision involve the solution of a bi-level optimization problem. Here the solution of a parameterized lower-level problem binds variables that appear in the objective of an upper-level problem. The lower-level problem typically appears as an argmin or argmax optimization problem. Many techniques have been proposed to solve bi-level optimization problems, including gradient descent, which is popular with current end-to-end learning approaches. In this technical report we collect some results on differentiating argmin and argmax optimization problems with and without constraints and provide some insightful motivating examples.

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