AI personal assistants deployed via robots or wearables require embodied understanding to collaborate with humans effectively. However, current Vision-Language Models (VLMs) primarily focus on third-person view videos, neglecting the richness of egocentric perceptual experience. To address this gap, we propose three key contributions. First, we introduce the Egocentric Video Understanding Dataset (EVUD) for training VLMs on video captioning and question answering tasks specific to egocentric videos. Second, we present , a 7B parameter VLM trained using parameter-efficient methods on EVUD. Finally, we evaluate ‘s capabilities on OpenEQA, a challenging benchmark for embodied video question answering. Our model achieves state-of-the-art performance, outperforming open-source models including strong Socratic models using GPT-4 as a planner by 3.6%.Additionally, we outperform Claude 3 and Gemini Pro Vision 1.0 and showcase competitive results compared to Gemini Pro 1.5 and GPT-4V, even surpassing the latter in spatial reasoning. This research paves the way for building efficient VLMs that can be deployed in robots or wearables, leveraging embodied video understanding to collaborate seamlessly with humans in everyday tasks, contributing to the advancement of next-generation Embodied AI.

We demonstrate EMMA, an embodied multimodal agent which has been developed for the Alexa Prize SimBot challenge. The agent acts within a 3D simulated environment for household tasks. EMMA is a unified and multimodal generative model aimed at solving embodied tasks. In contrast to previous work, our approach treats multiple multimodal tasks as a single multimodal conditional text generation problem, where a model learns to output text given both language and visual input. Furthermore, we showcase that a single generative agent can solve tasks with visual inputs of varying length, such as answering questions about static images, or executing actions given a sequence of previous frames and dialogue utterances. The demo system will allow users to interact conversationally with EMMA in embodied dialogues in different 3D environments from the TEACh dataset.

Pre-trained Vision and Language Transformers achieve high performance on downstream tasks due to their ability to transfer representational knowledge accumulated during pretraining on substantial amounts of data. In this paper, we ask whether it is possible to compete with such models using features based on transferred (pre-trained, frozen) representations combined with a lightweight architecture. We take a multimodal guessing task as our testbed, GuessWhat?!. An ensemble of our lightweight model matches the performance of the finetuned pre-trained transformer (LXMERT). An uncertainty analysis of our ensemble shows that the lightweight transferred representations close the data uncertainty gap with LXMERT, while retaining model diversity leading to ensemble boost. We further demonstrate that LXMERT’s performance gain is due solely to its extra V&L pretraining rather than because of architectural improvements. These results argue for flexible integration of multiple features and lightweight models as a viable alternative to large, cumbersome, pre-trained models.

In this paper, we study the grounding skills required to answer spatial questions asked by humans while playing the GuessWhat?! game. We propose a classification for spatial questions dividing them into absolute, relational, and group questions. We build a new answerer model based on the LXMERT multimodal transformer and we compare a baseline with and without visual features of the scene. We are interested in studying how the attention mechanisms of LXMERT are used to answer spatial questions since they require putting attention on more than one region simultaneously and spotting the relation holding among them. We show that our proposed model outperforms the baseline by a large extent (9.70% on spatial questions and 6.27% overall). By analyzing LXMERT errors and its attention mechanisms, we find that our classification helps to gain a better understanding of the skills required to answer different spatial questions.

This paper introduces BD2BB, a novel language and vision benchmark that requires multimodal models combine complementary information from the two modalities. Recently, impressive progress has been made to develop universal multimodal encoders suitable for virtually any language and vision tasks. However, current approaches often require them to combine redundant information provided by language and vision. Inspired by real-life communicative contexts, we propose a novel task where either modality is necessary but not sufficient to make a correct prediction. To do so, we first build a dataset of images and corresponding sentences provided by human participants. Second, we evaluate state-of-the-art models and compare their performance against human speakers. We show that, while the task is relatively easy for humans, best-performing models struggle to achieve similar results.

We study the issue of catastrophic forgetting in the context of neural multimodal approaches to Visual Question Answering (VQA). Motivated by evidence from psycholinguistics, we devise a set of linguistically-informed VQA tasks, which differ by the types of questions involved (Wh-questions and polar questions). We test what impact task difficulty has on continual learning, and whether the order in which a child acquires question types facilitates computational models. Our results show that dramatic forgetting is at play and that task difficulty and order matter. Two well-known current continual learning methods mitigate the problem only to a limiting degree.

Capturing semantic relations between sentences, such as entailment, is a long-standing challenge for computational semantics. Logic-based models analyse entailment in terms of possible worlds (interpretations, or situations) where a premise P entails a hypothesis H iff in all worlds where P is true, H is also true. Statistical models view this relationship probabilistically, addressing it in terms of whether a human would likely infer H from P. In this paper, we wish to bridge these two perspectives, by arguing for a visually-grounded version of the Textual Entailment task. Specifically, we ask whether models can perform better if, in addition to P and H, there is also an image (corresponding to the relevant “world” or “situation”). We use a multimodal version of the SNLI dataset (Bowman et al., 2015) and we compare “blind” and visually-augmented models of textual entailment. We show that visual information is beneficial, but we also conduct an in-depth error analysis that reveals that current multimodal models are not performing “grounding” in an optimal fashion.