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Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge about household objects and their locations of an average human. We introduce a novel method for leveraging common sense embedded within large language models for labelling rooms given the objects contained within. This algorithm has the added benefits of (i) requiring no task-specific pre-training (operating entirely in the zero-shot regime) and (ii) generalizing to arbitrary room and object labels, including previously-unseen ones -- both of which are highly desirable traits in robotic scene understanding algorithms. The proposed algorithm operates on 3D scene graphs produced by modern spatial perception systems, and we hope it will pave the way to more generalizable and scalable high-level 3D scene understanding for robotics.

Deep learning techniques have led to remarkable breakthroughs in the field of generic object detection and have spawned a lot of scene-understanding tasks in recent years. Scene graph has been the focus of research because of its powerful semantic representation and applications to scene understanding. Scene Graph Generation (SGG) refers to the task of automatically mapping an image into a semantic structural scene graph, which requires the correct labeling of detected objects and their relationships. Although this is a challenging task, the community has proposed a lot of SGG approaches and achieved good results. In this paper, we provide a comprehensive survey of recent achievements in this field brought about by deep learning techniques. We review 138 representative works that cover different input modalities, and systematically summarize existing methods of image-based SGG from the perspective of feature extraction and fusion. We attempt to connect and systematize the existing visual relationship detection methods, to summarize, and interpret the mechanisms and the strategies of SGG in a comprehensive way. Finally, we finish this survey with deep discussions about current existing problems and future research directions. This survey will help readers to develop a better understanding of the current research status and ideas.

As a scene graph compactly summarizes the high-level content of an image in a structured and symbolic manner, the similarity between scene graphs of two images reflects the relevance of their contents. Based on this idea, we propose a novel approach for image-to-image retrieval using scene graph similarity measured by graph neural networks. In our approach, graph neural networks are trained to predict the proxy image relevance measure, computed from human-annotated captions using a pre-trained sentence similarity model. We collect and publish the dataset for image relevance measured by human annotators to evaluate retrieval algorithms. The collected dataset shows that our method agrees well with the human perception of image similarity than other competitive baselines.

We present a new method to learn video representations from large-scale unlabeled video data. Ideally, this representation will be generic and transferable, directly usable for new tasks such as action recognition and zero or few-shot learning. We formulate unsupervised representation learning as a multi-modal, multi-task learning problem, where the representations are shared across different modalities via distillation. Further, we introduce the concept of loss function evolution by using an evolutionary search algorithm to automatically find optimal combination of loss functions capturing many (self-supervised) tasks and modalities. Thirdly, we propose an unsupervised representation evaluation metric using distribution matching to a large unlabeled dataset as a prior constraint, based on Zipf's law. This unsupervised constraint, which is not guided by any labeling, produces similar results to weakly-supervised, task-specific ones. The proposed unsupervised representation learning results in a single RGB network and outperforms previous methods. Notably, it is also more effective than several label-based methods (e.g., ImageNet), with the exception of large, fully labeled video datasets.

We propose UniViLM: a Unified Video and Language pre-training Model for multimodal understanding and generation. Motivated by the recent success of BERT based pre-training technique for NLP and image-language tasks, VideoBERT and CBT are proposed to exploit BERT model for video and language pre-training using narrated instructional videos. Different from their works which only pre-train understanding task, we propose a unified video-language pre-training model for both understanding and generation tasks. Our model comprises of 4 components including two single-modal encoders, a cross encoder and a decoder with the Transformer backbone. We first pre-train our model to learn the universal representation for both video and language on a large instructional video dataset. Then we fine-tune the model on two multimodal tasks including understanding task (text-based video retrieval) and generation task (multimodal video captioning). Our extensive experiments show that our method can improve the performance of both understanding and generation tasks and achieves the state-of-the art results.

In this paper, we propose Latent Relation Language Models (LRLMs), a class of language models that parameterizes the joint distribution over the words in a document and the entities that occur therein via knowledge graph relations. This model has a number of attractive properties: it not only improves language modeling performance, but is also able to annotate the posterior probability of entity spans for a given text through relations. Experiments demonstrate empirical improvements over both a word-based baseline language model and a previous approach that incorporates knowledge graph information. Qualitative analysis further demonstrates the proposed model's ability to learn to predict appropriate relations in context.

Video captioning is the task of automatically generating a textual description of the actions in a video. Although previous work (e.g. sequence-to-sequence model) has shown promising results in abstracting a coarse description of a short video, it is still very challenging to caption a video containing multiple fine-grained actions with a detailed description. This paper aims to address the challenge by proposing a novel hierarchical reinforcement learning framework for video captioning, where a high-level Manager module learns to design sub-goals and a low-level Worker module recognizes the primitive actions to fulfill the sub-goal. With this compositional framework to reinforce video captioning at different levels, our approach significantly outperforms all the baseline methods on a newly introduced large-scale dataset for fine-grained video captioning. Furthermore, our non-ensemble model has already achieved the state-of-the-art results on the widely-used MSR-VTT dataset.

Most existing works in visual question answering (VQA) are dedicated to improving the accuracy of predicted answers, while disregarding the explanations. We argue that the explanation for an answer is of the same or even more importance compared with the answer itself, since it makes the question and answering process more understandable and traceable. To this end, we propose a new task of VQA-E (VQA with Explanation), where the computational models are required to generate an explanation with the predicted answer. We first construct a new dataset, and then frame the VQA-E problem in a multi-task learning architecture. Our VQA-E dataset is automatically derived from the VQA v2 dataset by intelligently exploiting the available captions. We have conducted a user study to validate the quality of explanations synthesized by our method. We quantitatively show that the additional supervision from explanations can not only produce insightful textual sentences to justify the answers, but also improve the performance of answer prediction. Our model outperforms the state-of-the-art methods by a clear margin on the VQA v2 dataset.

Visual Question Answering (VQA) models have struggled with counting objects in natural images so far. We identify a fundamental problem due to soft attention in these models as a cause. To circumvent this problem, we propose a neural network component that allows robust counting from object proposals. Experiments on a toy task show the effectiveness of this component and we obtain state-of-the-art accuracy on the number category of the VQA v2 dataset without negatively affecting other categories, even outperforming ensemble models with our single model. On a difficult balanced pair metric, the component gives a substantial improvement in counting over a strong baseline by 6.6%.

While it is nearly effortless for humans to quickly assess the perceptual similarity between two images, the underlying processes are thought to be quite complex. Despite this, the most widely used perceptual metrics today, such as PSNR and SSIM, are simple, shallow functions, and fail to account for many nuances of human perception. Recently, the deep learning community has found that features of the VGG network trained on the ImageNet classification task has been remarkably useful as a training loss for image synthesis. But how perceptual are these so-called "perceptual losses"? What elements are critical for their success? To answer these questions, we introduce a new Full Reference Image Quality Assessment (FR-IQA) dataset of perceptual human judgments, orders of magnitude larger than previous datasets. We systematically evaluate deep features across different architectures and tasks and compare them with classic metrics. We find that deep features outperform all previous metrics by huge margins. More surprisingly, this result is not restricted to ImageNet-trained VGG features, but holds across different deep architectures and levels of supervision (supervised, self-supervised, or even unsupervised). Our results suggest that perceptual similarity is an emergent property shared across deep visual representations.