CLIPUNetr: Assisting Human-robot Interface for Uncalibrated Visual Servoing Control with CLIP-driven Referring Expression Segmentation

The classical human-robot interface in uncalibrated image-based visual servoing (UIBVS) relies on either human annotations or semantic segmentation with categorical labels. Both methods fail to match natural human communication and convey rich semantics in manipulation tasks as effectively as natural language expressions. In this paper, we tackle this problem by using referring expression segmentation, which is a prompt-based approach, to provide more in-depth information for robot perception. To generate high-quality segmentation predictions from referring expressions, we propose CLIPUNetr - a new CLIP-driven referring expression segmentation network. CLIPUNetr leverages CLIP's strong vision-language representations to segment regions from referring expressions, while utilizing its ``U-shaped'' encoder-decoder architecture to generate predictions with sharper boundaries and finer structures. Furthermore, we propose a new pipeline to integrate CLIPUNetr into UIBVS and apply it to control robots in real-world environments. In experiments, our method improves boundary and structure measurements by an average of 120% and can successfully assist real-world UIBVS control in an unstructured manipulation environment

Contrastive Grouping with Transformer for Referring Image Segmentation

Referring image segmentation aims to segment the target referent in an image conditioning on a natural language expression. Existing one-stage methods employ per-pixel classification frameworks, which attempt straightforwardly to align vision and language at the pixel level, thus failing to capture critical object-level information. In this paper, we propose a mask classification framework, Contrastive Grouping with Transformer network (CGFormer), which explicitly captures object-level information via token-based querying and grouping strategy. Specifically, CGFormer first introduces learnable query tokens to represent objects and then alternately queries linguistic features and groups visual features into the query tokens for object-aware cross-modal reasoning. In addition, CGFormer achieves cross-level interaction by jointly updating the query tokens and decoding masks in every two consecutive layers. Finally, CGFormer cooperates contrastive learning to the grouping strategy to identify the token and its mask corresponding to the referent. Experimental results demonstrate that CGFormer outperforms state-of-the-art methods in both segmentation and generalization settings consistently and significantly.Comment: Accepted by CVPR 202

EAVL: Explicitly Align Vision and Language for Referring Image Segmentation

Referring image segmentation aims to segment an object mentioned in natural language from an image. A main challenge is language-related localization, which means locating the object with the relevant language. Previous approaches mainly focus on the fusion of vision and language features without fully addressing language-related localization. In previous approaches, fused vision-language features are directly fed into a decoder and pass through a convolution with a fixed kernel to obtain the result, which follows a similar pattern as traditional image segmentation. This approach does not explicitly align language and vision features in the segmentation stage, resulting in a suboptimal language-related localization. Different from previous methods, we propose Explicitly Align the Vision and Language for Referring Image Segmentation (EAVL). Instead of using a fixed convolution kernel, we propose an Aligner which explicitly aligns the vision and language features in the segmentation stage. Specifically, a series of unfixed convolution kernels are generated based on the input l, and then are use to explicitly align the vision and language features. To achieve this, We generate multiple queries that represent different emphases of the language expression. These queries are transformed into a series of query-based convolution kernels. Then, we utilize these kernels to do convolutions in the segmentation stage and obtain a series of segmentation masks. The final result is obtained through the aggregation of all masks. Our method can not only fuse vision and language features effectively but also exploit their potential in the segmentation stage. And most importantly, we explicitly align language features of different emphases with the image features to achieve language-related localization. Our method surpasses previous state-of-the-art methods on RefCOCO, RefCOCO+, and G-Ref by large margins.Comment: 10 pages, 4 figures. arXiv admin note: text overlap with arXiv:2305.1496

MeViS: A Large-scale Benchmark for Video Segmentation with Motion Expressions

This paper strives for motion expressions guided video segmentation, which focuses on segmenting objects in video content based on a sentence describing the motion of the objects. Existing referring video object datasets typically focus on salient objects and use language expressions that contain excessive static attributes that could potentially enable the target object to be identified in a single frame. These datasets downplay the importance of motion in video content for language-guided video object segmentation. To investigate the feasibility of using motion expressions to ground and segment objects in videos, we propose a large-scale dataset called MeViS, which contains numerous motion expressions to indicate target objects in complex environments. We benchmarked 5 existing referring video object segmentation (RVOS) methods and conducted a comprehensive comparison on the MeViS dataset. The results show that current RVOS methods cannot effectively address motion expression-guided video segmentation. We further analyze the challenges and propose a baseline approach for the proposed MeViS dataset. The goal of our benchmark is to provide a platform that enables the development of effective language-guided video segmentation algorithms that leverage motion expressions as a primary cue for object segmentation in complex video scenes. The proposed MeViS dataset has been released at https://henghuiding.github.io/MeViS.Comment: ICCV 2023, Project Page: https://henghuiding.github.io/MeViS

MMNet: Multi-Mask Network for Referring Image Segmentation

Referring image segmentation aims to segment an object referred to by natural language expression from an image. However, this task is challenging due to the distinct data properties between text and image, and the randomness introduced by diverse objects and unrestricted language expression. Most of previous work focus on improving cross-modal feature fusion while not fully addressing the inherent uncertainty caused by diverse objects and unrestricted language. To tackle these problems, we propose an end-to-end Multi-Mask Network for referring image segmentation(MMNet). we first combine picture and language and then employ an attention mechanism to generate multiple queries that represent different aspects of the language expression. We then utilize these queries to produce a series of corresponding segmentation masks, assigning a score to each mask that reflects its importance. The final result is obtained through the weighted sum of all masks, which greatly reduces the randomness of the language expression. Our proposed framework demonstrates superior performance compared to state-of-the-art approaches on the two most commonly used datasets, RefCOCO, RefCOCO+ and G-Ref, without the need for any post-processing. This further validates the efficacy of our proposed framework.Comment: 10 pages, 5 figure

Text Augmented Spatial-aware Zero-shot Referring Image Segmentation

In this paper, we study a challenging task of zero-shot referring image segmentation. This task aims to identify the instance mask that is most related to a referring expression without training on pixel-level annotations. Previous research takes advantage of pre-trained cross-modal models, e.g., CLIP, to align instance-level masks with referring expressions. %Yet, CLIP only considers image-text pair level alignment, which neglects fine-grained image region and complex sentence matching. Yet, CLIP only considers the global-level alignment of image-text pairs, neglecting fine-grained matching between the referring sentence and local image regions. To address this challenge, we introduce a Text Augmented Spatial-aware (TAS) zero-shot referring image segmentation framework that is training-free and robust to various visual encoders. TAS incorporates a mask proposal network for instance-level mask extraction, a text-augmented visual-text matching score for mining the image-text correlation, and a spatial rectifier for mask post-processing. Notably, the text-augmented visual-text matching score leverages a $P$ score and an $N$-score in addition to the typical visual-text matching score. The $P$-score is utilized to close the visual-text domain gap through a surrogate captioning model, where the score is computed between the surrogate model-generated texts and the referring expression. The $N$-score considers the fine-grained alignment of region-text pairs via negative phrase mining, encouraging the masked image to be repelled from the mined distracting phrases. Extensive experiments are conducted on various datasets, including RefCOCO, RefCOCO+, and RefCOCOg. The proposed method clearly outperforms state-of-the-art zero-shot referring image segmentation methods.Comment: Findings of EMNLP202

Multimodal Compact Bilinear Pooling for Visual Question Answering and Visual Grounding

Modeling textual or visual information with vector representations trained from large language or visual datasets has been successfully explored in recent years. However, tasks such as visual question answering require combining these vector representations with each other. Approaches to multimodal pooling include element-wise product or sum, as well as concatenation of the visual and textual representations. We hypothesize that these methods are not as expressive as an outer product of the visual and textual vectors. As the outer product is typically infeasible due to its high dimensionality, we instead propose utilizing Multimodal Compact Bilinear pooling (MCB) to efficiently and expressively combine multimodal features. We extensively evaluate MCB on the visual question answering and grounding tasks. We consistently show the benefit of MCB over ablations without MCB. For visual question answering, we present an architecture which uses MCB twice, once for predicting attention over spatial features and again to combine the attended representation with the question representation. This model outperforms the state-of-the-art on the Visual7W dataset and the VQA challenge.Comment: Accepted to EMNLP 201

Shatter and Gather: Learning Referring Image Segmentation with Text Supervision

Referring image segmentation, the task of segmenting any arbitrary entities described in free-form texts, opens up a variety of vision applications. However, manual labeling of training data for this task is prohibitively costly, leading to lack of labeled data for training. We address this issue by a weakly supervised learning approach using text descriptions of training images as the only source of supervision. To this end, we first present a new model that discovers semantic entities in input image and then combines such entities relevant to text query to predict the mask of the referent. We also present a new loss function that allows the model to be trained without any further supervision. Our method was evaluated on four public benchmarks for referring image segmentation, where it clearly outperformed the existing method for the same task and recent open-vocabulary segmentation models on all the benchmarks.Comment: Accepted to ICCV 2023, Project page: https://southflame.github.io/sag

Bridging Vision and Language Encoders: Parameter-Efficient Tuning for Referring Image Segmentation

Parameter Efficient Tuning (PET) has gained attention for reducing the number of parameters while maintaining performance and providing better hardware resource savings, but few studies investigate dense prediction tasks and interaction between modalities. In this paper, we do an investigation of efficient tuning problems on referring image segmentation. We propose a novel adapter called Bridger to facilitate cross-modal information exchange and inject task-specific information into the pre-trained model. We also design a lightweight decoder for image segmentation. Our approach achieves comparable or superior performance with only 1.61\% to 3.38\% backbone parameter updates, evaluated on challenging benchmarks. The code is available at \url{https://github.com/kkakkkka/ETRIS}.Comment: Computer Vision and Natural Language Processing. 14 pages, 8 figures. ICCV-202