[RSJ22] TDP-MAT: Multimodal Language Comprehension for Object Manipulation Tasks via Real Images

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3. 3 ✓ https://www.toyota.com/usa/toyota-effect/romy-robot
4. ✓ : 4 “Look in the left wicker vase that is next to the potted plant” Wicker vase :
5. ✓ : “Look in the left wicker vase that is next to the potted plant” 5 Wicker vase : Wicker vase Wicker vase Wicker vase
6. ✓ : ✓ Key : “Look in the left wicker vase that is next to the potted plant” 6 Wicker vase : Wicker vase Wicker vase Wicker vase
7. ✓ REVERIE-fetch • 7 “Look in the left wicker vase that is next to the potted plant”
8. ✓ REVERIE-fetch • • (Instruction) (Context Regions) (Candidate Region) 8 “Look in the left wicker vase that is next to the potted plant”
9. ✓ REVERIE-fetch • • (Instruction) (Context Regions) (Candidate Region) 9 “Look in the left wicker vase that is next to the potted plant”
10. ✓ REVERIE-fetch • • (Instruction) (Context Regions) (Candidate Region) • 10 “Look in the left wicker vase that is next to the potted plant”
11. ✓ REVERIE-fetch • • (Instruction) (Context Regions) (Candidate Region) • 11 “Look in the left wicker vase that is next to the potted plant” Faster R-CNN[Ren+, PAMI16]
12. MTCM [Magassouba+, RA-L19] . VGG16LSTM . Target-dependent UNITER (TDU) [Ishikawa+, RA-L21] UNITER[Chen+, ECCV20] . REVERIE task / dataset [Qi+, CVPR20] , REVERIE 12
13. • MAT[Ishikawa+, ICPR22] • CLIP[Radford+, ICML21] • Perceiver[Jaegle+, ICML21] 13
14. • MAT[Ishikawa+, ICPR22] • CLIP[Radford+, ICML21] • Perceiver[Jaegle+, ICML21] 14
15. • MAT[Ishikawa+, ICPR22] • CLIP[Radford+, ICML21] • Perceiver[Jaegle+, ICML21] 15
16. • MAT[Ishikawa+, ICPR22] • CLIP[Radford+, ICML21] • Perceiver[Jaegle+, ICML21] 16
17. • MAT[Ishikawa+, ICPR22] • CLIP[Radford+, ICML21] • Perceiver[Jaegle+, ICML21] 17 2 1 3
18. ✓ 𝜹𝑡 ✓ 18 Input 𝜹𝑡 Output 1. 𝐸 𝜹 = CE 𝑓 𝒙 , 𝒚 ∇𝜹 𝐸 𝜹 = 𝜕𝐸 𝜕𝜹 2. ∇𝜹 𝐸 𝜹 𝒎𝑡 𝒗𝑡 𝒎𝑡 = 𝜌1 𝒎𝑡−1 + 1 − 𝜌1 ∇𝜹 𝐸 𝜹𝑡 𝒗𝑡 = 𝜌2 𝒗𝑡−1 + 1 − 𝜌2 ∇𝜹 𝐸 𝜹𝑡 2 3. 𝒎𝑡 𝒗𝑡 ∆𝜹𝒕 ෝ 𝒎𝑡 = 𝒎𝑡 1 − 𝜌1 𝑡 , ෝ 𝒗𝑡 = 𝒗𝑡 1 − 𝜌2 𝑡 ∆𝜹𝒕 = 𝜂 ෝ 𝒎𝑡 ෝ 𝒗𝑡 + 𝜖 4. 𝜹𝑡+1 = Π 𝜹 ≤𝜖 𝜹𝑡 + ∆𝜹𝒕 ∆𝜹𝒕 𝐹
19. ✓ CLIP ✓ ViT[Dosovitskiy+, ICLR21] ✓ transformer [EOT] 19 [EOT]
20. ✓ ✓ Perceiver CLIP 20 CLIP Encoders
21. ✓ CLIP Encoders , Perceiver 21
22. ✓ REVERIE-fetch dataset - REVERIE dataset ✓ REVERIE[Qi+, CVPR18] - → 1. , 2. https://yuankaiqi.github.io/REVERIE_Challenge/static/img/demo.gif 22 Matterport3D
23. ✓ REVERIE-fetch dataset - REVERIE dataset ✓ REVERIE[Qi+, CVPR18] : + 23 , ↓ - REVERIE - - https://yuankaiqi.github.io/REVERIE_Challenge/static/img/demo.gif
24. ✓ REVERIE-fetch dataset • REVERIE dataset #Samples Vocabulary size Average sentence length 30532 2853 19.1 Training Validation Test 26808 2552 1172 24 “Look in the left wicker vase that is next to the potted plant”
25. “Go into the living room and give me the pillow on the couch nearest the plant” 25 • → TDP-MAT
26. 26 • → TDP-MAT ✓ Bounding box “Make haste to the office and fluff the pillow sitting on the left of the chair”
27. • Acc [%] : 27 Condition Acc [%] ↑ Baseline : TDU [Ishikawa+, IROS21] 73.3 0.485 Ours : TDP-MAT W/o MAT 72.5 3.55 W/o MAT + Smaller learning rate 74.4 0.831 W/o CLIP & Perceiver 74.1 1.47 W/o Pretraining 73.1 2.24 Full 75.3 0.691 +2.0
28. 28 Condition Acc [%] ↑ Baseline : TDU [Ishikawa+, IROS21] 73.3 0.485 Ours : TDP-MAT W/o MAT 72.5 3.55 W/o MAT + Smaller learning rate 74.4 0.831 W/o CLIP & Perceiver 74.1 1.47 W/o Pretraining 73.1 2.24 Full 75.3 0.691 +2.8 - - 5 - ( ) - Smaller learning rate : 1/8 -
29. 29 Condition Acc [%] ↑ Baseline : TDU [Ishikawa+, IROS21] 73.3 0.485 Ours : TDP-MAT W/o MAT 72.5 3.55 W/o MAT + Smaller learning rate 74.4 0.831 W/o CLIP & Perceiver 74.1 1.47 W/o Pretraining 73.1 2.24 Full 75.3 0.691 +1.2 - CLIP Encoders, Perceiver Module, - Cross Attention
30. 30 Condition Acc [%] ↑ Baseline : TDU [Ishikawa+, IROS21] 73.3 0.485 Ours : TDP-MAT W/o MAT 72.5 3.55 W/o MAT + Smaller learning rate 74.4 0.831 W/o CLIP & Perceiver 74.1 1.47 W/o Pretraining 73.1 2.24 Full 75.3 0.691 +2.2 - TDU
31. ✓ • ✓ • MAT • ✓ • 31
32. ✓ ✓ 𝐿 𝑁 𝑅𝐿×𝐷 𝑅𝑁×𝐸 𝑅𝐿×𝐷, 𝑅𝑁×𝐷 → 𝑅𝐿×𝑁 𝑅𝐿×𝐷 𝑅𝐿×𝐷, 𝑅𝐿×𝐷 → 𝑅𝐿×𝐿 32
33. ✓ ✓ ✓ ✓ 33
34. ✓ 34 8 × 10−4 𝛽1 = 0.9, 𝛽2 = 0.99
35. ✓ ✓ ✓ 35 19+6=25