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Dec 10

Team Xiaomi EV-AD VLA: Caption-Guided Retrieval System for Cross-Modal Drone Navigation -- Technical Report for IROS 2025 RoboSense Challenge Track 4

Cross-modal drone navigation remains a challenging task in robotics, requiring efficient retrieval of relevant images from large-scale databases based on natural language descriptions. The RoboSense 2025 Track 4 challenge addresses this challenge, focusing on robust, natural language-guided cross-view image retrieval across multiple platforms (drones, satellites, and ground cameras). Current baseline methods, while effective for initial retrieval, often struggle to achieve fine-grained semantic matching between text queries and visual content, especially in complex aerial scenes. To address this challenge, we propose a two-stage retrieval refinement method: Caption-Guided Retrieval System (CGRS) that enhances the baseline coarse ranking through intelligent reranking. Our method first leverages a baseline model to obtain an initial coarse ranking of the top 20 most relevant images for each query. We then use Vision-Language-Model (VLM) to generate detailed captions for these candidate images, capturing rich semantic descriptions of their visual content. These generated captions are then used in a multimodal similarity computation framework to perform fine-grained reranking of the original text query, effectively building a semantic bridge between the visual content and natural language descriptions. Our approach significantly improves upon the baseline, achieving a consistent 5\% improvement across all key metrics (Recall@1, Recall@5, and Recall@10). Our approach win TOP-2 in the challenge, demonstrating the practical value of our semantic refinement strategy in real-world robotic navigation scenarios.

  • 10 authors
·
Oct 3

Efficient Semantic Segmentation by Altering Resolutions for Compressed Videos

Video semantic segmentation (VSS) is a computationally expensive task due to the per-frame prediction for videos of high frame rates. In recent work, compact models or adaptive network strategies have been proposed for efficient VSS. However, they did not consider a crucial factor that affects the computational cost from the input side: the input resolution. In this paper, we propose an altering resolution framework called AR-Seg for compressed videos to achieve efficient VSS. AR-Seg aims to reduce the computational cost by using low resolution for non-keyframes. To prevent the performance degradation caused by downsampling, we design a Cross Resolution Feature Fusion (CReFF) module, and supervise it with a novel Feature Similarity Training (FST) strategy. Specifically, CReFF first makes use of motion vectors stored in a compressed video to warp features from high-resolution keyframes to low-resolution non-keyframes for better spatial alignment, and then selectively aggregates the warped features with local attention mechanism. Furthermore, the proposed FST supervises the aggregated features with high-resolution features through an explicit similarity loss and an implicit constraint from the shared decoding layer. Extensive experiments on CamVid and Cityscapes show that AR-Seg achieves state-of-the-art performance and is compatible with different segmentation backbones. On CamVid, AR-Seg saves 67% computational cost (measured in GFLOPs) with the PSPNet18 backbone while maintaining high segmentation accuracy. Code: https://github.com/THU-LYJ-Lab/AR-Seg.

  • 7 authors
·
Mar 13, 2023

A Massive Scale Semantic Similarity Dataset of Historical English

A diversity of tasks use language models trained on semantic similarity data. While there are a variety of datasets that capture semantic similarity, they are either constructed from modern web data or are relatively small datasets created in the past decade by human annotators. This study utilizes a novel source, newly digitized articles from off-copyright, local U.S. newspapers, to assemble a massive-scale semantic similarity dataset spanning 70 years from 1920 to 1989 and containing nearly 400M positive semantic similarity pairs. Historically, around half of articles in U.S. local newspapers came from newswires like the Associated Press. While local papers reproduced articles from the newswire, they wrote their own headlines, which form abstractive summaries of the associated articles. We associate articles and their headlines by exploiting document layouts and language understanding. We then use deep neural methods to detect which articles are from the same underlying source, in the presence of substantial noise and abridgement. The headlines of reproduced articles form positive semantic similarity pairs. The resulting publicly available HEADLINES dataset is significantly larger than most existing semantic similarity datasets and covers a much longer span of time. It will facilitate the application of contrastively trained semantic similarity models to a variety of tasks, including the study of semantic change across space and time.

  • 2 authors
·
Jun 30, 2023

Learning semantic sentence representations from visually grounded language without lexical knowledge

Current approaches to learning semantic representations of sentences often use prior word-level knowledge. The current study aims to leverage visual information in order to capture sentence level semantics without the need for word embeddings. We use a multimodal sentence encoder trained on a corpus of images with matching text captions to produce visually grounded sentence embeddings. Deep Neural Networks are trained to map the two modalities to a common embedding space such that for an image the corresponding caption can be retrieved and vice versa. We show that our model achieves results comparable to the current state-of-the-art on two popular image-caption retrieval benchmark data sets: MSCOCO and Flickr8k. We evaluate the semantic content of the resulting sentence embeddings using the data from the Semantic Textual Similarity benchmark task and show that the multimodal embeddings correlate well with human semantic similarity judgements. The system achieves state-of-the-art results on several of these benchmarks, which shows that a system trained solely on multimodal data, without assuming any word representations, is able to capture sentence level semantics. Importantly, this result shows that we do not need prior knowledge of lexical level semantics in order to model sentence level semantics. These findings demonstrate the importance of visual information in semantics.

  • 2 authors
·
Mar 27, 2019

Scalable Attentive Sentence-Pair Modeling via Distilled Sentence Embedding

Recent state-of-the-art natural language understanding models, such as BERT and XLNet, score a pair of sentences (A and B) using multiple cross-attention operations - a process in which each word in sentence A attends to all words in sentence B and vice versa. As a result, computing the similarity between a query sentence and a set of candidate sentences, requires the propagation of all query-candidate sentence-pairs throughout a stack of cross-attention layers. This exhaustive process becomes computationally prohibitive when the number of candidate sentences is large. In contrast, sentence embedding techniques learn a sentence-to-vector mapping and compute the similarity between the sentence vectors via simple elementary operations. In this paper, we introduce Distilled Sentence Embedding (DSE) - a model that is based on knowledge distillation from cross-attentive models, focusing on sentence-pair tasks. The outline of DSE is as follows: Given a cross-attentive teacher model (e.g. a fine-tuned BERT), we train a sentence embedding based student model to reconstruct the sentence-pair scores obtained by the teacher model. We empirically demonstrate the effectiveness of DSE on five GLUE sentence-pair tasks. DSE significantly outperforms several ELMO variants and other sentence embedding methods, while accelerating computation of the query-candidate sentence-pairs similarities by several orders of magnitude, with an average relative degradation of 4.6% compared to BERT. Furthermore, we show that DSE produces sentence embeddings that reach state-of-the-art performance on universal sentence representation benchmarks. Our code is made publicly available at https://github.com/microsoft/Distilled-Sentence-Embedding.

  • 6 authors
·
Aug 14, 2019

VacancySBERT: the approach for representation of titles and skills for semantic similarity search in the recruitment domain

The paper focuses on deep learning semantic search algorithms applied in the HR domain. The aim of the article is developing a novel approach to training a Siamese network to link the skills mentioned in the job ad with the title. It has been shown that the title normalization process can be based either on classification or similarity comparison approaches. While classification algorithms strive to classify a sample into predefined set of categories, similarity search algorithms take a more flexible approach, since they are designed to find samples that are similar to a given query sample, without requiring pre-defined classes and labels. In this article semantic similarity search to find candidates for title normalization has been used. A pre-trained language model has been adapted while teaching it to match titles and skills based on co-occurrence information. For the purpose of this research fifty billion title-descriptions pairs had been collected for training the model and thirty three thousand title-description-normalized title triplets, where normalized job title was picked up manually by job ad creator for testing purposes. As baselines FastText, BERT, SentenceBert and JobBert have been used. As a metric of the accuracy of the designed algorithm is Recall in top one, five and ten model's suggestions. It has been shown that the novel training objective lets it achieve significant improvement in comparison to other generic and specific text encoders. Two settings with treating titles as standalone strings, and with included skills as additional features during inference have been used and the results have been compared in this article. Improvements by 10% and 21.5% have been achieved using VacancySBERT and VacancySBERT (with skills) respectively. The benchmark has been developed as open-source to foster further research in the area.

  • 3 authors
·
Jul 31, 2023

Pixel Sentence Representation Learning

Pretrained language models are long known to be subpar in capturing sentence and document-level semantics. Though heavily investigated, transferring perturbation-based methods from unsupervised visual representation learning to NLP remains an unsolved problem. This is largely due to the discreteness of subword units brought by tokenization of language models, limiting small perturbations of inputs to form semantics-preserved positive pairs. In this work, we conceptualize the learning of sentence-level textual semantics as a visual representation learning process. Drawing from cognitive and linguistic sciences, we introduce an unsupervised visual sentence representation learning framework, employing visually-grounded text perturbation methods like typos and word order shuffling, resonating with human cognitive patterns, and enabling perturbation to texts to be perceived as continuous. Our approach is further bolstered by large-scale unsupervised topical alignment training and natural language inference supervision, achieving comparable performance in semantic textual similarity (STS) to existing state-of-the-art NLP methods. Additionally, we unveil our method's inherent zero-shot cross-lingual transferability and a unique leapfrogging pattern across languages during iterative training. To our knowledge, this is the first representation learning method devoid of traditional language models for understanding sentence and document semantics, marking a stride closer to human-like textual comprehension. Our code is available at https://github.com/gowitheflow-1998/Pixel-Linguist

  • 10 authors
·
Feb 12, 2024

Unsupervised Matching of Data and Text

Entity resolution is a widely studied problem with several proposals to match records across relations. Matching textual content is a widespread task in many applications, such as question answering and search. While recent methods achieve promising results for these two tasks, there is no clear solution for the more general problem of matching textual content and structured data. We introduce a framework that supports this new task in an unsupervised setting for any pair of corpora, being relational tables or text documents. Our method builds a fine-grained graph over the content of the corpora and derives word embeddings to represent the objects to match in a low dimensional space. The learned representation enables effective and efficient matching at different granularity, from relational tuples to text sentences and paragraphs. Our flexible framework can exploit pre-trained resources, but it does not depends on their existence and achieves better quality performance in matching content when the vocabulary is domain specific. We also introduce optimizations in the graph creation process with an "expand and compress" approach that first identifies new valid relationships across elements, to improve matching, and then prunes nodes and edges, to reduce the graph size. Experiments on real use cases and public datasets show that our framework produces embeddings that outperform word embeddings and fine-tuned language models both in results' quality and in execution times.

  • 3 authors
·
Dec 16, 2021

Contrastive Learning and Mixture of Experts Enables Precise Vector Embeddings

The advancement of transformer neural networks has significantly elevated the capabilities of sentence similarity models, particularly in creating effective vector representations of natural language inputs. However, these models face notable challenges in domain-specific contexts, especially in highly specialized scientific sub-fields. Traditional methods often struggle in this regime, either overgeneralizing similarities within a niche or being overly sensitive to minor differences, resulting in inaccurate text classification and subpar vector representation. In an era where retrieval augmentation and search are increasingly crucial, precise and concise numerical representations are essential. In this paper, we target this issue by assembling niche datasets using co-citations as a similarity metric, focusing on biomedical domains. We employ two key strategies for fine-tuning state-of-the-art models: 1. Domain-specific Fine-Tuning, which tailors pretrained models to a single domain, and 2. Universal Applicability with Mixture of Experts (MoE), adapting pretrained models with enforced routing for multiple domains simultaneously. Our training approach emphasizes the use of abstracts for faster training, incorporating Multiple Negative Rankings loss for efficient contrastive learning. Notably, our MoE variants, equipped with N experts, achieve the efficacy of N individual models, heralding a new era of versatile, One-Size-Fits-All transformer networks for various tasks. This methodology marks significant advancements in scientific text classification metrics and holds promise for enhancing vector database search and compilation.

  • 4 authors
·
Jan 28, 2024

Reasoning to Attend: Try to Understand How <SEG> Token Works

Current Large Multimodal Models (LMMs) empowered visual grounding typically rely on <SEG> tokens as a text prompt to jointly optimize the vision-language model (e.g., LLaVA) and the downstream task-specific model (e.g., SAM). However, we observe that little research has looked into how it works.In this work, we first visualize the similarity maps, which are obtained by computing the semantic similarity between the <SEG> token and the image token embeddings derived from the last hidden layer in both the LLaVA encoder and SAM decoder. Intriguingly, we have found that a striking consistency holds in terms of activation responses in the similarity map, which reveals that what the <SEG> token contributes to is semantic similarity within image-text pairs. Specifically, the <SEG> token, a placeholder expanded in text vocabulary, extensively queries among individual tokenized image patches to match the semantics of an object from text to the paired image, while the Large Language Models (LLMs) are being fine-tuned. Upon the above findings, we present READ, which facilitates LMMs' resilient REAsoning capability of where to attenD under the guidance of highly activated points borrowed from similarity maps. Remarkably, READ features an intuitive design, Similarity as Points module (SasP), which can be seamlessly applied to <SEG>-like paradigms in a plug-and-play fashion. Also, extensive experiments have been conducted on ReasonSeg and RefCOCO(+/g) datasets. To validate whether READ suffers from catastrophic forgetting of previous skills after fine-tuning, we further assess its generation ability on an augmented FP-RefCOCO(+/g) dataset. All codes and models are publicly available at https://github.com/rui-qian/READ.

  • 3 authors
·
Dec 23, 2024

2D Matryoshka Sentence Embeddings

Common approaches rely on fixed-length embedding vectors from language models as sentence embeddings for downstream tasks such as semantic textual similarity (STS). Such methods are limited in their flexibility due to unknown computational constraints and budgets across various applications. Matryoshka Representation Learning (MRL) (Kusupati et al., 2022) encodes information at finer granularities, i.e., with lower embedding dimensions, to adaptively accommodate ad hoc tasks. Similar accuracy can be achieved with a smaller embedding size, leading to speedups in downstream tasks. Despite its improved efficiency, MRL still requires traversing all Transformer layers before obtaining the embedding, which remains the dominant factor in time and memory consumption. This prompts consideration of whether the fixed number of Transformer layers affects representation quality and whether using intermediate layers for sentence representation is feasible. In this paper, we introduce a novel sentence embedding model called Two-dimensional Matryoshka Sentence Embedding (2DMSE). It supports elastic settings for both embedding sizes and Transformer layers, offering greater flexibility and efficiency than MRL. We conduct extensive experiments on STS tasks and downstream applications. The experimental results demonstrate the effectiveness of our proposed model in dynamically supporting different embedding sizes and Transformer layers, allowing it to be highly adaptable to various scenarios.

  • 5 authors
·
Feb 22, 2024

DefSent+: Improving sentence embeddings of language models by projecting definition sentences into a quasi-isotropic or isotropic vector space of unlimited dictionary entries

This paper presents a significant improvement on the previous conference paper known as DefSent. The prior study seeks to improve sentence embeddings of language models by projecting definition sentences into the vector space of dictionary entries. We discover that this approach is not fully explored due to the methodological limitation of using word embeddings of language models to represent dictionary entries. This leads to two hindrances. First, dictionary entries are constrained by the single-word vocabulary, and thus cannot be fully exploited. Second, semantic representations of language models are known to be anisotropic, but pre-processing word embeddings for DefSent is not allowed because its weight is frozen during training and tied to the prediction layer. In this paper, we propose a novel method to progressively build entry embeddings not subject to the limitations. As a result, definition sentences can be projected into a quasi-isotropic or isotropic vector space of unlimited dictionary entries, so that sentence embeddings of noticeably better quality are attainable. We abbreviate our approach as DefSent+ (a plus version of DefSent), involving the following strengths: 1) the task performance on measuring sentence similarities is significantly improved compared to DefSent; 2) when DefSent+ is used to further train data-augmented models like SIMCSE, SNCSE, and SynCSE, state-of-the-art performance on measuring sentence similarities can be achieved among the approaches without using manually labeled datasets; 3) DefSent+ is also competitive in feature-based transfer for NLP downstream tasks.

  • 1 authors
·
May 25, 2024

RAR-b: Reasoning as Retrieval Benchmark

Semantic textual similartiy (STS) and information retrieval tasks (IR) tasks have been the two major avenues to record the progress of embedding models in the past few years. Under the emerging Retrieval-augmented Generation (RAG) paradigm, we envision the need to evaluate next-level language understanding abilities of embedding models, and take a conscious look at the reasoning abilities stored in them. Addressing this, we pose the question: Can retrievers solve reasoning problems? By transforming reasoning tasks into retrieval tasks, we find that without specifically trained for reasoning-level language understanding, current state-of-the-art retriever models may still be far from being competent for playing the role of assisting LLMs, especially in reasoning-intensive tasks. Moreover, albeit trained to be aware of instructions, instruction-aware IR models are often better off without instructions in inference time for reasoning tasks, posing an overlooked retriever-LLM behavioral gap for the research community to align. However, recent decoder-based embedding models show great promise in narrowing the gap, highlighting the pathway for embedding models to achieve reasoning-level language understanding. We also show that, although current off-the-shelf re-ranker models fail on these tasks, injecting reasoning abilities into them through fine-tuning still appears easier than doing so to bi-encoders, and we are able to achieve state-of-the-art performance across all tasks by fine-tuning a reranking model. We release Reasoning as Retrieval Benchmark (RAR-b), a holistic suite of tasks and settings to evaluate the reasoning abilities stored in retriever models. RAR-b is available at https://github.com/gowitheflow-1998/RAR-b.

  • 3 authors
·
Apr 9, 2024

SUGARCREPE++ Dataset: Vision-Language Model Sensitivity to Semantic and Lexical Alterations

Despite their remarkable successes, state-of-the-art large language models (LLMs), including vision-and-language models (VLMs) and unimodal language models (ULMs), fail to understand precise semantics. For example, semantically equivalent sentences expressed using different lexical compositions elicit diverging representations. The degree of this divergence and its impact on encoded semantics is not very well understood. In this paper, we introduce the SUGARCREPE++ dataset to analyze the sensitivity of VLMs and ULMs to lexical and semantic alterations. Each sample in SUGARCREPE++ dataset consists of an image and a corresponding triplet of captions: a pair of semantically equivalent but lexically different positive captions and one hard negative caption. This poses a 3-way semantic (in)equivalence problem to the language models. We comprehensively evaluate VLMs and ULMs that differ in architecture, pre-training objectives and datasets to benchmark the performance of SUGARCREPE++ dataset. Experimental results highlight the difficulties of VLMs in distinguishing between lexical and semantic variations, particularly in object attributes and spatial relations. Although VLMs with larger pre-training datasets, model sizes, and multiple pre-training objectives achieve better performance on SUGARCREPE++, there is a significant opportunity for improvement. We show that all the models which achieve better performance on compositionality datasets need not perform equally well on SUGARCREPE++, signifying that compositionality alone may not be sufficient for understanding semantic and lexical alterations. Given the importance of the property that the SUGARCREPE++ dataset targets, it serves as a new challenge to the vision-and-language community.

  • 6 authors
·
Jun 16, 2024