Multimodal Contextualized Plan Prediction for Embodied Task Completion

Task planning is an important component of traditional robotics systems enabling robots to compose fine grained skills to perform more complex tasks. Recent work building systems for translating natural language to executable actions for task completion in simulated embodied agents is focused on directly predicting low level action sequences that would be expected to be directly executable by a physical robot. In this work, we instead focus on predicting a higher level plan representation for one such embodied task completion dataset - TEACh, under the assumption that techniques for high-level plan prediction from natural language are expected to be more transferable to physical robot systems. We demonstrate that better plans can be predicted using multimodal context, and that plan prediction and plan execution modules are likely dependent on each other and hence it may not be ideal to fully decouple them. Further, we benchmark execution of oracle plans to quantify the scope for improvement in plan prediction models.

Modeling Intensification for Sign Language Generation: A Computational Approach

End-to-end sign language generation models do not accurately represent the prosody in sign language. A lack of temporal and spatial variations leads to poor-quality generated presentations that confuse human interpreters. In this paper, we aim to improve the prosody in generated sign languages by modeling intensification in a data-driven manner. We present different strategies grounded in linguistics of sign language that inform how intensity modifiers can be represented in gloss annotations. To employ our strategies, we first annotate a subset of the benchmark PHOENIX-14T, a German Sign Language dataset, with different levels of intensification. We then use a supervised intensity tagger to extend the annotated dataset and obtain labels for the remaining portion of it. This enhanced dataset is then used to train state-of-the-art transformer models for sign language generation. We find that our efforts in intensification modeling yield better results when evaluated with automatic metrics. Human evaluation also indicates a higher preference of the videos generated using our model.

Including Facial Expressions in Contextual Embeddings for Sign Language Generation

State-of-the-art sign language generation frameworks lack expressivity and naturalness which is the result of only focusing manual signs, neglecting the affective, grammatical and semantic functions of facial expressions. The purpose of this work is to augment semantic representation of sign language through grounding facial expressions. We study the effect of modeling the relationship between text, gloss, and facial expressions on the performance of the sign generation systems. In particular, we propose a Dual Encoder Transformer able to generate manual signs as well as facial expressions by capturing the similarities and differences found in text and sign gloss annotation. We take into consideration the role of facial muscle activity to express intensities of manual signs by being the first to employ facial action units in sign language generation. We perform a series of experiments showing that our proposed model improves the quality of automatically generated sign language.

COSMic: A Coherence-Aware Generation Metric for Image Descriptions

Developers of text generation models rely on automated evaluation metrics as a stand-in for slow and expensive manual evaluations. However, image captioning metrics have struggled to give accurate learned estimates of the semantic and pragmatic success of output text. We address this weakness by introducing the first discourse-aware learned generation metric for evaluating image descriptions. Our approach is inspired by computational theories of discourse for capturing information goals using coherence. We present a dataset of image$\unicode{x2013}$description pairs annotated with coherence relations. We then train a coherence-aware metric on a subset of the Conceptual Captions dataset and measure its effectiveness$\unicode{x2014}$its ability to predict human ratings of output captions$\unicode{x2014}$on a test set composed of out-of-domain images. We demonstrate a higher Kendall Correlation Coefficient for our proposed metric with the human judgments for the results of a number of state-of-the-art coherence-aware caption generation models when compared to several other metrics including recently proposed learned metrics such as BLEURT and BERTScore.