We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interprets human commands using a Large Language Model (LLM) and categorizes the instructions into navigation and behavioral guidelines. Navigation guidelines consist of directional commands (e.g., "move forward until") and associated landmarks (e.g., "the building with blue windows"), while behavioral guidelines encompass regulatory actions (e.g., "stay on") and their corresponding objects (e.g., "pavements"). We use VLMs for their zero-shot scene understanding capabilities to estimate landmark locations from RGB images for robot navigation. Further, we introduce a novel scene representation that utilizes VLMs to ground behavioral rules into a behavioral cost map. This cost map encodes the presence of behavioral objects within the scene and assigns costs based on their regulatory actions. The behavioral cost map is integrated with a LiDAR-based occupancy map for navigation. To navigate outdoor scenes while adhering to the instructed behaviors, we present an unconstrained Model Predictive Control (MPC)-based planner that prioritizes both reaching landmarks and following behavioral guidelines. We evaluate the performance of BehAV on a quadruped robot across diverse real-world scenarios, demonstrating a 22.49% improvement in alignment with human-teleoperated actions, as measured by Frechet distance, and achieving a 40% higher navigation success rate compared to state-of-the-art methods.
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This paper presents SimBase, a simple yet effective baseline for temporal video grounding. While recent advances in temporal grounding have led to impressive performance, they have also driven network architectures toward greater complexity, with a range of methods to (1) capture temporal relationships and (2) achieve effective multimodal fusion. In contrast, this paper explores the question: How effective can a simplified approach be? To investigate, we design SimBase, a network that leverages lightweight, one-dimensional temporal convolutional layers instead of complex temporal structures. For cross-modal interaction, SimBase only employs an element-wise product instead of intricate multimodal fusion. Remarkably, SimBase achieves state-of-the-art results on two large-scale datasets. As a simple yet powerful baseline, we hope SimBase will spark new ideas and streamline future evaluations in temporal video grounding.
We introduce INQUIRE, a text-to-image retrieval benchmark designed to challenge multimodal vision-language models on expert-level queries. INQUIRE includes iNaturalist 2024 (iNat24), a new dataset of five million natural world images, along with 250 expert-level retrieval queries. These queries are paired with all relevant images comprehensively labeled within iNat24, comprising 33,000 total matches. Queries span categories such as species identification, context, behavior, and appearance, emphasizing tasks that require nuanced image understanding and domain expertise. Our benchmark evaluates two core retrieval tasks: (1) INQUIRE-Fullrank, a full dataset ranking task, and (2) INQUIRE-Rerank, a reranking task for refining top-100 retrievals. Detailed evaluation of a range of recent multimodal models demonstrates that INQUIRE poses a significant challenge, with the best models failing to achieve an mAP@50 above 50%. In addition, we show that reranking with more powerful multimodal models can enhance retrieval performance, yet there remains a significant margin for improvement. By focusing on scientifically-motivated ecological challenges, INQUIRE aims to bridge the gap between AI capabilities and the needs of real-world scientific inquiry, encouraging the development of retrieval systems that can assist with accelerating ecological and biodiversity research. Our dataset and code are available at //inquire-benchmark.github.io
We introduce a new benchmark designed to advance the development of general-purpose, large-scale vision-language models for remote sensing images. Although several vision-language datasets in remote sensing have been proposed to pursue this goal, existing datasets are typically tailored to single tasks, lack detailed object information, or suffer from inadequate quality control. Exploring these improvement opportunities, we present a Versatile vision-language Benchmark for Remote Sensing image understanding, termed VRSBench. This benchmark comprises 29,614 images, with 29,614 human-verified detailed captions, 52,472 object references, and 123,221 question-answer pairs. It facilitates the training and evaluation of vision-language models across a broad spectrum of remote sensing image understanding tasks. We further evaluated state-of-the-art models on this benchmark for three vision-language tasks: image captioning, visual grounding, and visual question answering. Our work aims to significantly contribute to the development of advanced vision-language models in the field of remote sensing. The data and code can be accessed at //github.com/lx709/VRSBench.
Large language models (LLMs) have achieved impressive performance in code generation recently, offering programmers revolutionary assistance in software development. However, due to the auto-regressive nature of LLMs, they are susceptible to error accumulation during code generation. Once an error is produced, LLMs can merely continue to generate the subsequent code conditioned on it, given their inability to adjust previous outputs. Existing LLM-based approaches typically consider post-revising after code generation, leading to the challenging resolution of accumulated errors and the significant wastage of resources. Ideally, LLMs should rollback and resolve the occurred error in time during code generation, rather than proceed on the basis of the error and wait for post-revising after generation. In this paper, we propose ROCODE, which integrates the backtracking mechanism and program analysis into LLMs for code generation. Specifically, we employ program analysis to perform incremental error detection during the generation process. When an error is detected, the backtracking mechanism is triggered to priming rollback strategies and constraint regeneration, thereby eliminating the error early and ensuring continued generation on the correct basis. Experiments on multiple code generation benchmarks show that ROCODE can significantly reduce the errors generated by LLMs, with a compilation pass rate of 99.1%. The test pass rate is improved by up to 23.8% compared to the best baseline approach. Compared to the post-revising baseline, the token cost is reduced by 19.3%. Moreover, our approach is model-agnostic and achieves consistent improvements across nine representative LLMs.
This study seeks to identify the potential role of AI-driven assistive technologies in enhancing access to libraries for persons with varying degrees of challenges. Traditional libraries pose a problem to many users with vision and mobility, among other conditions related to physical and infirmities. This mixed-methods research approach will examine ways in which AI-powered assistive tools and applications associated with text-to-speech, navigation systems, and personalized assistants are revolutionizing library services through a literature review, survey methods, interviews, and case studies. Our findings suggest that these technologies greatly increase the autonomy and participation of people with physical disabilities, providing personalized support and access to a wide range of resources. From this, some key findings have been deduced from the research, showing a strong impact on user experience and efficiency in services, while at the same time bringing out important considerations related to privacy and ethical implementation. This study highlights the central role of AI in making library settings more inclusive, thereby allowing equal access to knowledge and participation in the community. Such insight thus serves professionals working in libraries, policymakers, and technology developers for innovations to occur uninterruptedly, with future research directions proposed that would refine such technologies, especially toward the special needs of diverse populations. By adopting AI, libraries could uphold their mission of providing equal access to knowledge through full and equal participation of all persons, regardless of any type of physical ability, in the learning and community activities carried out by the library. This study paves the way for future innovations in creating more accessible and inclusive library spaces.
In this paper, we introduce Mask2Map, a novel end-to-end online HD map construction method designed for autonomous driving applications. Our approach focuses on predicting the class and ordered point set of map instances within a scene, represented in the bird's eye view (BEV). Mask2Map consists of two primary components: the Instance-Level Mask Prediction Network (IMPNet) and the Mask-Driven Map Prediction Network (MMPNet). IMPNet generates Mask-Aware Queries and BEV Segmentation Masks to capture comprehensive semantic information globally. Subsequently, MMPNet enhances these query features using local contextual information through two submodules: the Positional Query Generator (PQG) and the Geometric Feature Extractor (GFE). PQG extracts instance-level positional queries by embedding BEV positional information into Mask-Aware Queries, while GFE utilizes BEV Segmentation Masks to generate point-level geometric features. However, we observed limited performance in Mask2Map due to inter-network inconsistency stemming from different predictions to Ground Truth (GT) matching between IMPNet and MMPNet. To tackle this challenge, we propose the Inter-network Denoising Training method, which guides the model to denoise the output affected by both noisy GT queries and perturbed GT Segmentation Masks. Our evaluation conducted on nuScenes and Argoverse2 benchmarks demonstrates that Mask2Map achieves remarkable performance improvements over previous state-of-the-art methods, with gains of 10.1% mAP and 4.1 mAP, respectively. Our code can be found at //github.com/SehwanChoi0307/Mask2Map.
The Segment Anything Model (SAM), a profound vision foundation model pretrained on a large-scale dataset, breaks the boundaries of general segmentation and sparks various downstream applications. This paper introduces Hi-SAM, a unified model leveraging SAM for hierarchical text segmentation. Hi-SAM excels in segmentation across four hierarchies, including pixel-level text, word, text-line, and paragraph, while realizing layout analysis as well. Specifically, we first turn SAM into a high-quality pixel-level text segmentation (TS) model through a parameter-efficient fine-tuning approach. We use this TS model to iteratively generate the pixel-level text labels in a semi-automatical manner, unifying labels across the four text hierarchies in the HierText dataset. Subsequently, with these complete labels, we launch the end-to-end trainable Hi-SAM based on the TS architecture with a customized hierarchical mask decoder. During inference, Hi-SAM offers both automatic mask generation (AMG) mode and promptable segmentation (PS) mode. In the AMG mode, Hi-SAM segments pixel-level text foreground masks initially, then samples foreground points for hierarchical text mask generation and achieves layout analysis in passing. As for the PS mode, Hi-SAM provides word, text-line, and paragraph masks with a single point click. Experimental results show the state-of-the-art performance of our TS model: 84.86% fgIOU on Total-Text and 88.96% fgIOU on TextSeg for pixel-level text segmentation. Moreover, compared to the previous specialist for joint hierarchical detection and layout analysis on HierText, Hi-SAM achieves significant improvements: 4.73% PQ and 5.39% F1 on the text-line level, 5.49% PQ and 7.39% F1 on the paragraph level layout analysis, requiring $20\times$ fewer training epochs. The code is available at //github.com/ymy-k/Hi-SAM.
Current automated fact-checking (AFC) approaches commonly evaluate evidence either implicitly via the predicted verdicts or by comparing retrieved evidence with a predefined closed knowledge source, such as Wikipedia. However, these methods suffer from limitations, resulting from their reliance on evaluation metrics developed for different purposes and constraints imposed by closed knowledge sources. Recent advances in natural language generation (NLG) evaluation offer new possibilities for evidence assessment. In this work, we introduce Ev2R, an evaluation framework for AFC that comprises three types of approaches for evidence evaluation: reference-based, proxy-reference, and reference-less. We evaluate their effectiveness through agreement with human ratings and adversarial tests, and demonstrate that prompt-based scorers, particularly those leveraging LLMs and reference evidence, outperform traditional evaluation approaches.
In order to answer natural language questions over knowledge graphs, most processing pipelines involve entity and relation linking. Traditionally, entity linking and relation linking has been performed either as dependent sequential tasks or independent parallel tasks. In this paper, we propose a framework called "EARL", which performs entity linking and relation linking as a joint single task. EARL uses a graph connection based solution to the problem. We model the linking task as an instance of the Generalised Travelling Salesman Problem (GTSP) and use GTSP approximate algorithm solutions. We later develop EARL which uses a pair-wise graph-distance based solution to the problem.The system determines the best semantic connection between all keywords of the question by referring to a knowledge graph. This is achieved by exploiting the "connection density" between entity candidates and relation candidates. The "connection density" based solution performs at par with the approximate GTSP solution.We have empirically evaluated the framework on a dataset with 5000 questions. Our system surpasses state-of-the-art scores for entity linking task by reporting an accuracy of 0.65 to 0.40 from the next best entity linker.
We study the problem of learning to reason in large scale knowledge graphs (KGs). More specifically, we describe a novel reinforcement learning framework for learning multi-hop relational paths: we use a policy-based agent with continuous states based on knowledge graph embeddings, which reasons in a KG vector space by sampling the most promising relation to extend its path. In contrast to prior work, our approach includes a reward function that takes the accuracy, diversity, and efficiency into consideration. Experimentally, we show that our proposed method outperforms a path-ranking based algorithm and knowledge graph embedding methods on Freebase and Never-Ending Language Learning datasets.
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