Qunbo Wang

Yanghong Mei, Yirong Yang, Longteng Guo et al.

Navigating complex urban environments using natural language instructions poses significant challenges for embodied agents, including noisy language instructions, ambiguous spatial references, diverse landmarks, and dynamic street scenes. Current visual navigation methods are typically limited to simulated or off-street environments, and often rely on precise goal formats, such as specific coordinates or images. This limits their effectiveness for autonomous agents like last-mile delivery robots navigating unfamiliar cities. To address these limitations, we introduce UrbanNav, a scalable framework that trains embodied agents to follow free-form language instructions in diverse urban settings. Leveraging web-scale city walking videos, we develop an scalable annotation pipeline that aligns human navigation trajectories with language instructions grounded in real-world landmarks. UrbanNav encompasses over 1,500 hours of navigation data and 3 million instruction-trajectory-landmark triplets, capturing a wide range of urban scenarios. Our model learns robust navigation policies to tackle complex urban scenarios, demonstrating superior spatial reasoning, robustness to noisy instructions, and generalization to unseen urban settings. Experimental results show that UrbanNav significantly outperforms existing methods, highlighting the potential of large-scale web video data to enable language-guided, real-world urban navigation for embodied agents.

Dongze Hao, Qunbo Wang, Longteng Guo et al.

While large visual-language models (LVLM) have shown promising results on traditional visual question answering benchmarks, it is still challenging for them to answer complex VQA problems which requires diverse world knowledge. Motivated by the research of retrieval-augmented generation in the field of natural language processing, we use Dense Passage Retrieval (DPR) to retrieve related knowledge to help the model answer questions. However, DPR conduct retrieving in natural language space, which may not ensure comprehensive acquisition of image information. Thus, the retrieved knowledge is not truly conducive to helping answer the question, affecting the performance of the overall system. To address this issue, we propose a novel framework that leverages the visual-language model to select the key knowledge retrieved by DPR and answer questions. The framework consists of two modules: Selector and Answerer, where both are initialized by the LVLM and parameter-efficiently finetuned by self-bootstrapping: find key knowledge in the retrieved knowledge documents using the Selector, and then use them to finetune the Answerer to predict answers; obtain the pseudo-labels of key knowledge documents based on the predictions of the Answerer and weak supervision labels, and then finetune the Selector to select key knowledge; repeat. Our framework significantly enhances the performance of the baseline on the challenging open-domain Knowledge-based VQA benchmark, OK-VQA, achieving a state-of-the-art accuracy of 62.83%. Our code is publicly available at https://github.com/haodongze/Self-KSel-QAns.

Sihan Chen, Handong Li, Qunbo Wang et al.

Vision and text have been fully explored in contemporary video-text foundational models, while other modalities such as audio and subtitles in videos have not received sufficient attention. In this paper, we resort to establish connections between multi-modality video tracks, including Vision, Audio, and Subtitle, and Text by exploring an automatically generated large-scale omni-modality video caption dataset called VAST-27M. Specifically, we first collect 27 million open-domain video clips and separately train a vision and an audio captioner to generate vision and audio captions. Then, we employ an off-the-shelf Large Language Model (LLM) to integrate the generated captions, together with subtitles and instructional prompts into omni-modality captions. Based on the proposed VAST-27M dataset, we train an omni-modality video-text foundational model named VAST, which can perceive and process vision, audio, and subtitle modalities from video, and better support various tasks including vision-text, audio-text, and multi-modal video-text tasks (retrieval, captioning and QA). Extensive experiments have been conducted to demonstrate the effectiveness of our proposed VAST-27M corpus and VAST foundation model. VAST achieves 22 new state-of-the-art results on various cross-modality benchmarks. Code, model and dataset will be released at https://github.com/TXH-mercury/VAST.

Dongze Hao, Jian Jia, Longteng Guo et al.

Knowledge-based visual question answering (KB-VQA) is a challenging task, which requires the model to leverage external knowledge for comprehending and answering questions grounded in visual content. Recent studies retrieve the knowledge passages from external knowledge bases and then use them to answer questions. However, these retrieved knowledge passages often contain irrelevant or noisy information, which limits the performance of the model. To address the challenge, we propose two synergistic models: Knowledge Condensation model and Knowledge Reasoning model. We condense the retrieved knowledge passages from two perspectives. First, we leverage the multimodal perception and reasoning ability of the visual-language models to distill concise knowledge concepts from retrieved lengthy passages, ensuring relevance to both the visual content and the question. Second, we leverage the text comprehension ability of the large language models to summarize and condense the passages into the knowledge essence which helps answer the question. These two types of condensed knowledge are then seamlessly integrated into our Knowledge Reasoning model, which judiciously navigates through the amalgamated information to arrive at the conclusive answer. Extensive experiments validate the superiority of the proposed method. Compared to previous methods, our method achieves state-of-the-art performance on knowledge-based VQA datasets (65.1% on OK-VQA and 60.1% on A-OKVQA) without resorting to the knowledge produced by GPT-3 (175B).

Siqi Zhang, Yanyuan Qiao, Qunbo Wang et al.

Vision-and-Language Navigation (VLN) tasks have gained prominence within artificial intelligence research due to their potential application in fields like home assistants. Many contemporary VLN approaches, while based on transformer architectures, have increasingly incorporated additional components such as external knowledge bases or map information to enhance performance. These additions, while boosting performance, also lead to larger models and increased computational costs. In this paper, to achieve both high performance and low computational costs, we propose a novel architecture with the COmbination of Selective MemOrization (COSMO). Specifically, COSMO integrates state-space modules and transformer modules, and incorporates two VLN-customized selective state space modules: the Round Selective Scan (RSS) and the Cross-modal Selective State Space Module (CS3). RSS facilitates comprehensive inter-modal interactions within a single scan, while the CS3 module adapts the selective state space module into a dual-stream architecture, thereby enhancing the acquisition of cross-modal interactions. Experimental validations on three mainstream VLN benchmarks, REVERIE, R2R, and R2R-CE, not only demonstrate competitive navigation performance of our model but also show a significant reduction in computational costs.