Vision-and-Language Navigation (VLN) tasks require an agent to navigate through the environment based on language instructions. In this paper, we aim to solve two key challenges in this task: utilizing multilingual instructions for improved instruction-path grounding and navigating through new environments that are unseen during training. To address these challenges, first, our agent learns a shared and visually-aligned cross-lingual language representation for the three languages (English, Hindi and Telugu) in the Room-Across-Room dataset. Our language representation learning is guided by text pairs that are aligned by visual information. Second, our agent learns an environment-agnostic visual representation by maximizing the similarity between semantically-aligned image pairs (with constraints on object-matching) from different environments. Our environment agnostic visual representation can mitigate the environment bias induced by low-level visual information. Empirically, on the Room-Across-Room dataset, we show that our multi-lingual agent gets large improvements in all metrics over the strong baseline model when generalizing to unseen environments with the cross-lingual language representation and the environment-agnostic visual representation. Furthermore, we show that our learned language and visual representations can be successfully transferred to the Room-to-Room and Cooperative Vision-and-Dialogue Navigation task, and present detailed qualitative and quantitative generalization and grounding analysis.

Adapter-tuning is a paradigm that transfers a pretrained language model to downstream tasks by adding and tuning a small number of new parameters. Previously proposed adapter architectures are all feed-forward neural networks. In this paper, we investigate the effectiveness of using tiny-attention—i.e., attention with extremely small per-head dimensionality—as adapters. Our tiny-attention adapter learns to modify the hidden states at each position directly conditioned on the hidden states at all the other positions, which is missed by the previously proposed adapters. Moreover, we view its multiple attention heads as a mixture of experts and propose to average their weights during deployment, which further reduces its inference computation cost. On the GLUE benchmark, our tiny-attention adapter outperforms the other parameter-efficient transfer learning methods as well as full fine-tuning while only updating 0.05% of the parameters. On the FewGLUE benchmark, its performance is comparable to that of GPT-3 and PET.

Vision language navigation is the task that requires an agent to navigate through a 3D environment based on natural language instructions. One key challenge in this task is to ground instructions with the current visual information that the agent perceives. Most of the existing work employs soft attention over individual words to locate the instruction required for the next action. However, different words have different functions in a sentence (e.g., modifiers convey attributes, verbs convey actions). Syntax information like dependencies and phrase structures can aid the agent to locate important parts of the instruction. Hence, in this paper, we propose a navigation agent that utilizes syntax information derived from a dependency tree to enhance alignment between the instruction and the current visual scenes. Empirically, our agent outperforms the baseline model that does not use syntax information on the Room-to-Room dataset, especially in the unseen environment. Besides, our agent achieves the new state-of-the-art on Room-Across-Room dataset, which contains instructions in 3 languages (English, Hindi, and Telugu). We also show that our agent is better at aligning instructions with the current visual information via qualitative visualizations.

Phrase localization is a task that studies the mapping from textual phrases to regions of an image. Given difficulties in annotating phrase-to-object datasets at scale, we develop a Multimodal Alignment Framework (MAF) to leverage more widely-available caption-image datasets, which can then be used as a form of weak supervision. We first present algorithms to model phrase-object relevance by leveraging fine-grained visual representations and visually-aware language representations. By adopting a contrastive objective, our method uses information in caption-image pairs to boost the performance in weakly-supervised scenarios. Experiments conducted on the widely-adopted Flickr30k dataset show a significant improvement over existing weakly-supervised methods. With the help of the visually-aware language representations, we can also improve the previous best unsupervised result by 5.56%. We conduct ablation studies to show that both our novel model and our weakly-supervised strategies significantly contribute to our strong results.

Humans learn language by listening, speaking, writing, reading, and also, via interaction with the multimodal real world. Existing language pre-training frameworks show the effectiveness of text-only self-supervision while we explore the idea of a visually-supervised language model in this paper. We find that the main reason hindering this exploration is the large divergence in magnitude and distributions between the visually-grounded language datasets and pure-language corpora. Therefore, we develop a technique named “vokenization” that extrapolates multimodal alignments to language-only data by contextually mapping language tokens to their related images (which we call “vokens”). The “vokenizer” is trained on relatively small image captioning datasets and we then apply it to generate vokens for large language corpora. Trained with these contextually generated vokens, our visually-supervised language models show consistent improvements over self-supervised alternatives on multiple pure-language tasks such as GLUE, SQuAD, and SWAG.

We find that the performance of state-of-the-art models on Natural Language Inference (NLI) and Reading Comprehension (RC) analysis/stress sets can be highly unstable. This raises three questions: (1) How will the instability affect the reliability of the conclusions drawn based on these analysis sets? (2) Where does this instability come from? (3) How should we handle this instability and what are some potential solutions? For the first question, we conduct a thorough empirical study over analysis sets and find that in addition to the unstable final performance, the instability exists all along the training curve. We also observe lower-than-expected correlations between the analysis validation set and standard validation set, questioning the effectiveness of the current model-selection routine. Next, to answer the second question, we give both theoretical explanations and empirical evidence regarding the source of the instability, demonstrating that the instability mainly comes from high inter-example correlations within analysis sets. Finally, for the third question, we discuss an initial attempt to mitigate the instability and suggest guidelines for future work such as reporting the decomposed variance for more interpretable results and fair comparison across models.

For embodied agents, navigation is an important ability but not an isolated goal. Agents are also expected to perform specific tasks after reaching the target location, such as picking up objects and assembling them into a particular arrangement. We combine Vision-andLanguage Navigation, assembling of collected objects, and object referring expression comprehension, to create a novel joint navigation-and-assembly task, named ARRAMON. During this task, the agent (similar to a PokeMON GO player) is asked to find and collect different target objects one-by-one by navigating based on natural language (English) instructions in a complex, realistic outdoor environment, but then also ARRAnge the collected objects part-by-part in an egocentric grid-layout environment. To support this task, we implement a 3D dynamic environment simulator and collect a dataset with human-written navigation and assembling instructions, and the corresponding ground truth trajectories. We also filter the collected instructions via a verification stage, leading to a total of 7.7K task instances (30.8K instructions and paths). We present results for several baseline models (integrated and biased) and metrics (nDTW, CTC, rPOD, and PTC), and the large model-human performance gap demonstrates that our task is challenging and presents a wide scope for future work.

Vision-and-language reasoning requires an understanding of visual concepts, language semantics, and, most importantly, the alignment and relationships between these two modalities. We thus propose the LXMERT (Learning Cross-Modality Encoder Representations from Transformers) framework to learn these vision-and-language connections. In LXMERT, we build a large-scale Transformer model that consists of three encoders: an object relationship encoder, a language encoder, and a cross-modality encoder. Next, to endow our model with the capability of connecting vision and language semantics, we pre-train the model with large amounts of image-and-sentence pairs, via five diverse representative pre-training tasks: masked language modeling, masked object prediction (feature regression and label classification), cross-modality matching, and image question answering. These tasks help in learning both intra-modality and cross-modality relationships. After fine-tuning from our pre-trained parameters, our model achieves the state-of-the-art results on two visual question answering datasets (i.e., VQA and GQA). We also show the generalizability of our pre-trained cross-modality model by adapting it to a challenging visual-reasoning task, NLVR2, and improve the previous best result by 22% absolute (54% to 76%). Lastly, we demonstrate detailed ablation studies to prove that both our novel model components and pre-training strategies significantly contribute to our strong results. Code and pre-trained models publicly available at: https://github.com/airsplay/lxmert

Describing images with text is a fundamental problem in vision-language research. Current studies in this domain mostly focus on single image captioning. However, in various real applications (e.g., image editing, difference interpretation, and retrieval), generating relational captions for two images, can also be very useful. This important problem has not been explored mostly due to lack of datasets and effective models. To push forward the research in this direction, we first introduce a new language-guided image editing dataset that contains a large number of real image pairs with corresponding editing instructions. We then propose a new relational speaker model based on an encoder-decoder architecture with static relational attention and sequential multi-head attention. We also extend the model with dynamic relational attention, which calculates visual alignment while decoding. Our models are evaluated on our newly collected and two public datasets consisting of image pairs annotated with relationship sentences. Experimental results, based on both automatic and human evaluation, demonstrate that our model outperforms all baselines and existing methods on all the datasets.

A grand goal in AI is to build a robot that can accurately navigate based on natural language instructions, which requires the agent to perceive the scene, understand and ground language, and act in the real-world environment. One key challenge here is to learn to navigate in new environments that are unseen during training. Most of the existing approaches perform dramatically worse in unseen environments as compared to seen ones. In this paper, we present a generalizable navigational agent. Our agent is trained in two stages. The first stage is training via mixed imitation and reinforcement learning, combining the benefits from both off-policy and on-policy optimization. The second stage is fine-tuning via newly-introduced ‘unseen’ triplets (environment, path, instruction). To generate these unseen triplets, we propose a simple but effective ‘environmental dropout’ method to mimic unseen environments, which overcomes the problem of limited seen environment variability. Next, we apply semi-supervised learning (via back-translation) on these dropout environments to generate new paths and instructions. Empirically, we show that our agent is substantially better at generalizability when fine-tuned with these triplets, outperforming the state-of-art approaches by a large margin on the private unseen test set of the Room-to-Room task, and achieving the top rank on the leaderboard.

Visual reasoning with compositional natural language instructions, e.g., based on the newly-released Cornell Natural Language Visual Reasoning (NLVR) dataset, is a challenging task, where the model needs to have the ability to create an accurate mapping between the diverse phrases and the several objects placed in complex arrangements in the image. Further, this mapping needs to be processed to answer the question in the statement given the ordering and relationship of the objects across three similar images. In this paper, we propose a novel end-to-end neural model for the NLVR task, where we first use joint bidirectional attention to build a two-way conditioning between the visual information and the language phrases. Next, we use an RL-based pointer network to sort and process the varying number of unordered objects (so as to match the order of the statement phrases) in each of the three images and then pool over the three decisions. Our model achieves strong improvements (of 4-6% absolute) over the state-of-the-art on both the structured representation and raw image versions of the dataset.