A long-term goal of artificial intelligence is to have an agent execute commands communicated through natural language. In many cases the commands are grounded in a visual environment shared by the human who gives the command and the agent. Execution of the command then requires mapping the command into the physical visual space, after which the appropriate action can be taken. In this paper we consider the former. Or more specifically, we consider the problem in an autonomous driving setting, where a passenger requests an action that can be associated with an object found in a street scene. Our work presents the Talk2Car dataset, which is the first object referral dataset that contains commands written in natural language for self-driving cars. We provide a detailed comparison with related datasets such as ReferIt, RefCOCO, RefCOCO+, RefCOCOg, Cityscape-Ref and CLEVR-Ref. Additionally, we include a performance analysis using strong state-ofthe-art models. The results show that the proposed object referral task is a challenging one for which the models show promising results but still require additional research in natural language processing, computer vision and the intersection of these fields. The dataset can be found on our website: http:// macchina-ai.eu/
In recent years, we have seen significant steps taken in the development of self-driving cars. Multiple companies are starting to roll out impressive systems that work in a variety of settings. These systems can sometimes give the impression that full self-driving is just around the corner and that we would soon build cars without even a steering wheel. The increase in the level of autonomy and control given to an AI provides an opportunity for new modes of human-vehicle interaction. However, surveys have shown that giving more control to an AI in self-driving cars is accompanied by a degree of uneasiness by passengers. In an attempt to alleviate this issue, recent works have taken a natural language-oriented approach by allowing the passenger to give commands that refer to specific objects in the visual scene. Nevertheless, this is only half the task as the car should also understand the physical destination of the command, which is what we focus on in this paper. We propose an extension in which we annotate the 3D destination that the car needs to reach after executing the given command and evaluate multiple different baselines on predicting this destination location. Additionally, we introduce a model that outperforms the prior works adapted for this particular setting.
The task of visual grounding requires locating the most relevant region or object in an image, given a natural language query. So far, progress on this task was mostly measured on curated datasets, which are not always representative of human spoken language. In this work, we deviate from recent, popular task settings and consider the problem under an autonomous vehicle scenario. In particular, we consider a situation where passengers can give free-form natural language commands to a vehicle which can be associated with an object in the street scene. To stimulate research on this topic, we have organized the Commands for Autonomous Vehicles (C4AV) challenge based on the recent Talk2Car dataset. This paper presents the results of the challenge. First, we compare the used benchmark against existing datasets for visual grounding. Second, we identify the aspects that render top-performing models successful, and relate them to existing state-of-the-art models for visual grounding, in addition to detecting potential failure cases by evaluating on carefully selected subsets. Finally, we discuss several possibilities for future work.
In this paper, we develop a method for grounding medical text into a physically meaningful and interpretable space corresponding to a human atlas. We build on text embedding architectures such as BERT and introduce a loss function that allows us to reason about the semantic and spatial relatedness of medical texts by learning a projection of the embedding into a 3D space representing the human body. We quantitatively and qualitatively demonstrate that our proposed method learns a context sensitive and spatially aware mapping, in both the inter-organ and intra-organ sense, using a large scale medical text dataset from the "Large-scale online biomedical semantic indexing" track of the 2020 BioASQ challenge. We extend our approach to a self-supervised setting, and find it to be competitive with a classification based method, and a fully supervised variant of approach.
Deep autoencoder models work on an information bottleneck principle with a lower-dimensional latent space of typically tens or hundreds of dimensions. Two and three-dimensional spaces are key for representing information that can be mapped in physical space, or that can be intuitively navigated and interpreted by a human without extensive background knowledge. Nevertheless, training autoencoder models with extremely low dimensional latent spaces is challenging for multiple reasons: (i) the dimensionality of the latent space is lower than the intrinsic dimensionality of the data manifold, and (ii) optimization of a complicated non-convex objective can lead to convergence to a non-global optimum. In this work, we demonstrate that layerwise training strategies lead to improved convergence, as well as better perceptual properties when applied to models with extremely low dimensional latent spaces. Experiments on the CelebA dataset show improved performance on the Fréchet Inception Distance over standard autoencoder training. Additionally, we demonstrate the utility of low dimensional, physical latent representations. We map satellite image patches to a low dimensional latent space where we align the representation with the physical attributes of each patch, such as the geographic coordinates. We show that such representations are inherently interpretable and allow for an interactive and physically intuitive approach to generating new images.
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