Accurate interpretation and visualization of human instructions are crucial for text-to-image (T2I) synthesis. However, current models struggle to capture semantic variations from word order changes, and existing evaluations, relying on indirect metrics like text-image similarity, fail to reliably assess these challenges. This often obscures poor performance on complex or uncommon linguistic patterns by the focus on frequent word combinations. To address these deficiencies, we propose a novel metric called SemVarEffect and a benchmark named SemVarBench, designed to evaluate the causality between semantic variations in inputs and outputs in T2I synthesis. Semantic variations are achieved through two types of linguistic permutations, while avoiding easily predictable literal variations. Experiments reveal that the CogView-3-Plus and Ideogram 2 performed the best, achieving a score of 0.2/1. Semantic variations in object relations are less understood than attributes, scoring 0.07/1 compared to 0.17-0.19/1. We found that cross-modal alignment in UNet or Transformers plays a crucial role in handling semantic variations, a factor previously overlooked by a focus on textual encoders. Our work establishes an effective evaluation framework that advances the T2I synthesis community's exploration of human instruction understanding. Our benchmark and code are available at https://github.com/zhuxiangru/SemVarBench.

Scene understanding enables intelligent agents to interpret and comprehend their environment. While existing large vision-language models (LVLMs) for scene understanding have primarily focused on indoor household tasks, they face two significant limitations when applied to outdoor large-scale scene understanding. First, outdoor scenarios typically encompass larger-scale environments observed through various sensors from multiple viewpoints (e.g., bird view and terrestrial view), while existing indoor LVLMs mainly analyze single visual modalities within building-scale contexts from humanoid viewpoints. Second, existing LVLMs suffer from missing multidomain perception outdoor data and struggle to effectively integrate 2D and 3D visual information. To address the aforementioned limitations, we build the first multidomain perception outdoor scene understanding dataset, named SVM-City, deriving from multi-Scale scenarios with multi-View and multi-Modal instruction tuning data. It contains 420k images and 4, 811M point clouds with 567k question-answering pairs from vehicles, low-altitude drones, high-altitude aerial planes, and satellite. To effectively fuse multimodal data in the absence of one modality, we introduce incomplete multimodal learning to model outdoor scene understanding and design the LVLM named City-VLM. Multimodal fusion is realized by constructed as a joint probabilistic distribution space rather than implementing directly explicit fusion operations (e.g., concatenation). Experimental results on three typical outdoor scene understanding tasks show City-VLM achieves 18.14 % performance surpassing existing LVLMs in question-answering tasks averagely. Our method demonstrates pragmatic and generalization performance across multiple outdoor scenes.

Robotic grasping is a fundamental ability for a robot to interact with the environment. Current methods focus on how to obtain a stable and reliable grasping pose in object level, while little work has been studied on part (shape)-wise grasping which is related to fine-grained grasping and robotic affordance. Parts can be seen as atomic elements to compose an object, which contains rich semantic knowledge and a strong correlation with affordance. However, lacking a large part-wise 3D robotic dataset limits the development of part representation learning and downstream applications. In this paper, we propose a new large Language-guided SHape grAsPing datasEt (named LangSHAPE) to promote 3D part-level affordance and grasping ability learning. From the perspective of robotic cognition, we design a two-stage fine-grained robotic grasping framework (named LangPartGPD), including a novel 3D part language grounding model and a partaware grasp pose detection model, in which explicit language input from human or large language models (LLMs) could guide a robot to generate part-level 6-DoF grasping pose with textual explanation. Our method combines the advantages of humanrobot collaboration and LLMs’ planning ability using explicit language as a symbolic intermediate. To evaluate the effectiveness of our proposed method, we perform 3D part grounding and fine-grained grasp detection experiments on both simulation and physical robot settings, following language instructions across different degrees of textual complexity. Results show our method achieves competitive performance in 3D geometry fine-grained grounding, object affordance inference, and 3D part-aware grasping tasks. Our dataset and code are available on our project website https://sites.google.com/view/lang-shape.

Visual language navigation (VLN) is one of the important research in embodied AI. It aims to enable an agent to understand the surrounding environment and complete navigation tasks. VLN instructions could be categorized into coarse-grained and fine-grained commands. Fine-grained command describes a whole task with subtasks step-by-step. In contrast, coarse-grained command gives an abstract task description, which more suites human habits. Most existing work focuses on the former kind of instruction in VLN tasks, ignoring the latter abstract instructions belonging to daily life scenarios. To overcome the above challenge in abstract instruction, we attempt to consider coarse-grained instruction in VLN by event knowledge enhancement. Specifically, we first propose a prompt-based framework to extract an event knowledge graph (named VLN-EventKG =) for VLN integrally over multiple mainstream benchmark datasets. Through small and large language model collaboration, we realize knowledge-enhanced navigation planning (named EventNav) for VLN tasks with coarse-grained instruction input. Additionally, we design a novel dynamic history backtracking module to correct potential error action planning in real time. Experimental results in various public benchmarks show our knowledge-enhanced method has superiority in coarse-grained-instruction VLN using our proposed VLN-EventKG with over 5% improvement in success rate. Our project is available at https://sites.google.com/view/vln-eventkg

3D multimodal question answering (MQA) plays a crucial role in scene understanding by enabling intelligent agents to comprehend their surroundings in 3D environments. While existing research has primarily focused on indoor household tasks and outdoor roadside autonomous driving tasks, there has been limited exploration of city-level scene understanding tasks. Furthermore, existing research faces challenges in understanding city scenes, due to the absence of spatial semantic information and human-environment interaction information at the city level.To address these challenges, we investigate 3D MQA from both dataset and method perspectives. From the dataset perspective, we introduce a novel 3D MQA dataset named City-3DQA for city-level scene understanding, which is the first dataset to incorporate scene semantic and human-environment interactive tasks within the city. From the method perspective, we propose a Scene graph enhanced City-level Understanding method (Sg-CityU), which utilizes the scene graph to introduce the spatial semantic. A new benchmark is reported and our proposed Sg-CityU achieves accuracy of 63.94 % and 63.76 % in different settings of City-3DQA. Compared to indoor 3D MQA methods and zero-shot using advanced large language models (LLMs), Sg-CityU demonstrates state-of-the-art (SOTA) performance in robustness and generalization.

Embodied AI is one of the most popular studies in artificial intelligence and robotics, which can effectively improve the intelligence of real-world agents (i.e. robots) serving human beings. Scene knowledge is important for an agent to understand the surroundings and make correct decisions in the varied open world. Currently, knowledge base for embodied tasks is missing and most existing work use general knowledge base or pre-trained models to enhance the intelligence of an agent. For conventional knowledge base, it is sparse, insufficient in capacity and cost in data collection. For pre-trained models, they face the uncertainty of knowledge and hard maintenance. To overcome the challenges of scene knowledge, we propose a scene-driven multimodal knowledge graph (Scene-MMKG) construction method combining conventional knowledge engineering and large language models. A unified scene knowledge injection framework is introduced for knowledge representation. To evaluate the advantages of our proposed method, we instantiate Scene-MMKG considering typical indoor robotic functionalities (Manipulation andMobility), namedManipMob-MMKG. Comparisons in characteristics indicate our instantiated ManipMob-MMKG has broad superiority on data-collection efficiency and knowledge quality. Experimental results on typical embodied tasks show that knowledge-enhanced methods using our instantiated ManipMob-MMKG can improve the performance obviously without re-designing model structures complexly.

Linyi Yang, Yaoxian Song, Xuan Ren, Chenyang Lyu, Yidong Wang, Jingming Zhuo, Lingqiao Liu, Jindong Wang, Jennifer Foster, Yue Zhang. Proceedings of the 2023 Conference on Empirical Methods in Natural Language Processing. 2023.

Current NLP techniques have been greatly applied in different domains. In this paper, we propose a human-in-the-loop framework for robotic grasping in cluttered scenes, investigating a language interface to the grasping process, which allows the user to intervene by natural language commands. This framework is constructed on a state-of-the-art grasping baseline, where we substitute a scene-graph representation with a text representation of the scene using BERT. Experiments on both simulation and physical robot show that the proposed method outperforms conventional object-agnostic and scene-graph based methods in the literature. In addition, we find that with human intervention, performance can be significantly improved. Our dataset and code are available on our project website https://sites.google.com/view/hitl-grasping-bert.

Vision and voice are two vital keys for agents' interaction and learning. In this paper, we present a novel indoor navigation model called Memory Vision-Voice Indoor Navigation (MVV-IN), which receives voice commands and analyzes multimodal information of visual observation in order to enhance robots' environment understanding. We make use of single RGB images taken by a rst-view monocular camera. We also apply a self-attention mechanism to keep the agent focusing on key areas. Memory is important for the agent to avoid repeating certain tasks unnecessarily and in order for it to adapt adequately to new scenes, therefore, we make use of meta-learning. We have experimented with various functional features extracted from visual observation. Comparative experiments prove that our methods outperform state-of-the-art baselines.