Temporal-Spatial Object Relations Modeling for Vision-and-Language Navigation

Vision-and-Language Navigation (VLN) is a challenging task where an agent is required to navigate to a natural language described location via vision observations. The navigation abilities of the agent can be enhanced by the relations between objects, which are usually learned using internal objects or external datasets. The relationships between internal objects are modeled employing graph convolutional network (GCN) in traditional studies. However, GCN tends to be shallow, limiting its modeling ability. To address this issue, we utilize a cross attention mechanism to learn the connections between objects over a trajectory, which takes temporal continuity into account, termed as Temporal Object Relations (TOR). The external datasets have a gap with the navigation environment, leading to inaccurate modeling of relations. To avoid this problem, we construct object connections based on observations from all viewpoints in the navigational environment, which ensures complete spatial coverage and eliminates the gap, called Spatial Object Relations (SOR). Additionally, we observe that agents may repeatedly visit the same location during navigation, significantly hindering their performance. For resolving this matter, we introduce the Turning Back Penalty (TBP) loss function, which penalizes the agent's repetitive visiting behavior, substantially reducing the navigational distance. Experimental results on the REVERIE, SOON, and R2R datasets demonstrate the effectiveness of the proposed method.

Too Much Information Kills Information: A Clustering Perspective

Clustering is one of the most fundamental tools in the artificial intelligence area, particularly in the pattern recognition and learning theory. In this paper, we propose a simple, but novel approach for variance-based k-clustering tasks, included in which is the widely known k-means clustering. The proposed approach picks a sampling subset from the given dataset and makes decisions based on the data information in the subset only. With certain assumptions, the resulting clustering is provably good to estimate the optimum of the variance-based objective with high probability. Extensive experiments on synthetic datasets and real-world datasets show that to obtain competitive results compared with k-means method (Llyod 1982) and k-means++ method (Arthur and Vassilvitskii 2007), we only need 7% information of the dataset. If we have up to 15% information of the dataset, then our algorithm outperforms both the k-means method and k-means++ method in at least 80% of the clustering tasks, in terms of the quality of clustering. Also, an extended algorithm based on the same idea guarantees a balanced k-clustering result.