Subscribe to the gold package and get unlimited access to Shamra Academy
Register a new userLanguage Grounding with 3D Objects
388
0
0.0
(
0
)
Added by
Jesse Thomason
Publication date
2021
fields
Informatics Engineering
and research's language is
English
Ask ChatGPT about the research
No Arabic abstract
Seemingly simple natural language requests to a robot are generally underspecified, for example Can you bring me the wireless mouse? Flat images of candidate mice may not provide the discriminative information needed for wireless. The world, and objects in it, are not flat images but complex 3D shapes. If a human requests an object based on any of its basic properties, such as color, shape, or texture, robots should perform the necessary exploration to accomplish the task. In particular, while substantial effort and progress has been made on understanding explicitly visual attributes like color and category, comparatively little progress has been made on understanding language about shapes and contours. In this work, we introduce a novel reasoning task that targets both visual and non-visual language about 3D objects. Our new benchmark, ShapeNet Annotated with Referring Expressions (SNARE) requires a model to choose which of two objects is being referenced by a natural language description. We introduce several CLIP-based models for distinguishing objects and demonstrate that while recent advances in jointly modeling vision and language are useful for robotic language understanding, it is still the case that these image-based models are weaker at understanding the 3D nature of objects -- properties which play a key role in manipulation. We find that adding view estimation to language grounding models improves accuracy on both SNARE and when identifying objects referred to in language on a robot platform, but note that a large gap remains between these models and human performance.
rate research
Read More
We develop a system to disambiguate object instances within the same class based on simple physical descriptions. The system takes as input a natural language phrase and a depth image containing a segmented object and predicts how similar the observed object is to the object described by the phrase. Our system is designed to learn from only a small amount of human-labeled language data and generalize to viewpoints not represented in the language-annotated depth image training set. By decoupling 3D shape representation from language representation, this method is able to ground language to novel objects using a small amount of language-annotated depth-data and a larger corpus of unlabeled 3D object meshes, even when these objects are partially observed from unusual viewpoints. Our system is able to disambiguate between novel objects, observed via depth images, based on natural language descriptions. Our method also enables view-point transfer; trained on human-annotated data on a small set of depth images captured from frontal viewpoints, our system successfully predicted object attributes from rear views despite having no such depth images in its training set. Finally, we demonstrate our approach on a Baxter robot, enabling it to pick specific objects based on human-provided natural language descriptions.
To realize robots that can understand human instructions and perform meaningful tasks in the near future, it is important to develop learned models that can understand referential language to identify common objects in real-world 3D scenes. In this paper, we develop a spatial-language model for a 3D visual grounding problem. Specifically, given a reconstructed 3D scene in the form of a point cloud with 3D bounding boxes of potential object candidates, and a language utterance referring to a target object in the scene, our model identifies the target object from a set of potential candidates. Our spatial-language model uses a transformer-based architecture that combines spatial embedding from bounding-box with a finetuned language embedding from DistilBert and reasons among the objects in the 3D scene to find the target object. We show that our model performs competitively on visio-linguistic datasets proposed by ReferIt3D. We provide additional analysis of performance in spatial reasoning tasks decoupled from perception noise, the effect of view-dependent utterances in terms of accuracy, and view-point annotations for potential robotics applications.
We propose associating language utterances to 3D visual abstractions of the scene they describe. The 3D visual abstractions are encoded as 3-dimensional visual feature maps. We infer these 3D visual scene feature maps from RGB images of the scene via view prediction: when the generated 3D scene feature map is neurally projected from a camera viewpoint, it should match the corresponding RGB image. We present generative models that condition on the dependency tree of an utterance and generate a corresponding visual 3D feature map as well as reason about its plausibility, and detector models that condition on both the dependency tree of an utterance and a related image and localize the object referents in the 3D feature map inferred from the image. Our model outperforms models of language and vision that associate language with 2D CNN activations or 2D images by a large margin in a variety of tasks, such as, classifying plausibility of utterances, detecting referential expressions, and supplying rewards for trajectory optimization of object placement policies from language instructions. We perform numerous ablations and show the improved performance of our detectors is due to its better generalization across camera viewpoints and lack of object interferences in the inferred 3D feature space, and the improved performance of our generators is due to their ability to spatially reason about objects and their configurations in 3D when mapping from language to scenes.
We ask the question: to what extent can recent large-scale language and image generation models blend visual concepts? Given an arbitrary object, we identify a relevant object and generate a single-sentence description of the blend of the two using a language model. We then generate a visual depiction of the blend using a text-based image generation model. Quantitative and qualitative evaluations demonstrate the superiority of language models over classical methods for conceptual blending, and of recent large-scale image generation models over prior models for the visual depiction.
The recently proposed SNLI-VE corpus for recognising visual-textual entailment is a large, real-world dataset for fine-grained multimodal reasoning. However, the automatic way in which SNLI-VE has been assembled (via combining parts of two related datasets) gives rise to a large number of errors in the labels of this corpus. In this paper, we first present a data collection effort to correct the class with the highest error rate in SNLI-VE. Secondly, we re-evaluate an existing model on the corrected corpus, which we call SNLI-VE-2.0, and provide a quantitative comparison with its performance on the non-corrected corpus. Thirdly, we introduce e-SNLI-VE, which appends human-written natural language explanations to SNLI-VE-2.0. Finally, we train models that learn from these explanations at training time, and output such explanations at testing time.
suggested questions
Log in to be able to interact and post comments
comments
Fetching comments
Sign in to be able to follow your search criteria
