[IROS23] Prototypical Contrastive Transfer Learning for Multimodal Language Understanding

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2. L Time consuming: e.g., Multiple env., arranging physical objects Motivation: Mitigating labor-intensive data collection by domain transfer - 2 - Transfer Simulation Real-world x8
3. “Look in the left wicker vase “next to the potted plant” Task: Multimodal Language Understanding for Fetching Instruction - 3 - “Grasp the glass “in the sink” Transfer Simulation Real-world Binary classification for each object Pos. Neg. Neg. Neg. Neg. Pos. Neg. Neg. Neg.
4. Prototypical Contrastive Transfer Learning (PCTL) for multimodal language understanding Contribution: l Introduce domain transfer to multimodal language understanding l Extend prototypical contrastive loss for classification problems in two domains - 4 - PCL [Li+, ICLR’21] Related work: MCDDA [Saito+, CVPR’18]
5. Prototypical Contrastive Transfer Learning (PCTL) for multimodal language understanding Contribution: l Introduce domain transfer to multimodal language understanding l Extend prototypical contrastive loss for classification problems in two domains - 5 - PCL [Li+, ICLR’21] Related work: MCDDA [Saito+, CVPR’18] Domain transfer for single modality (vision) task
6. Prototypical Contrastive Transfer Learning (PCTL) for multimodal language understanding Contribution: l Introduce domain transfer to multimodal language understanding l Extend prototypical contrastive loss for classification problems in two domains - 6 - PCL [Li+, ICLR’21] Related work: MCDDA [Saito+, CVPR’18] Performs domain transfer based on contrastive learning Inspired by PCL
7. PCTL: Alleviate domain gap by PCTL: contrastive learning between two domains - 7 - Real-world Simulation Feature vectors Feature vectors Clusters’ centroids Clusters’ centroids Contrastive “Clean the top-left “picture above TV” “Pick up the glass “in the sink”
8. Qualitative results: Correct prediction by PCTL - 8 - “Go down the stairs to the “lower balcony area and turn off “the lamp on the dresser.” From REVERIE [Qi+, CVPR’20] #sample: 10342 From ALFRED [Shridhar+, CVPR’20] #sample: 34286 Real-world Transfer “Pick up the “tissue box on the desk“ Simulation
9. Quantitative results: Outperformed Target Domain Only - 9 - Methods Train Test Acc. [%]ˢ Target Domain Only Real Real 73.0±1.87 MCDDA+ [Saito, CVPR’18] Sim Real Real 74.9±3.94 PCTL (Ours) Sim+Real Real 78.1±2.49 Improved by domain transfer +5.1
10. Quantitative results: Outperformed MCDDA+ - 10 - Methods Train Test Acc. [%]ˢ Target Domain Only Real Real 73.0±1.87 MCDDA+ [Saito, CVPR’18] Sim Real Real 74.9±3.94 PCTL (Ours) Sim+Real Real 78.1±2.49 +3.2 Outperformed existing method
11. Summary: Prototypical Contrastive Transfer Learning (PCTL) Motivation: Mitigating labor-intensive data collection by domain transfer Novelty: l Introduce domain transfer to multimodal language understanding l Extend prototypical contrastive loss for classification problems in two domains Result: Outperformed target-domain only condition & existing domain transfer method - 11 -