# Sim-To-Real Transfer of Visual Grounding for Human-Aided Ambiguity Resolution

arXiv: https://arxiv.org/abs/2205.12089 · HTML: https://mlsanity.com/paper/2205.12089/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 41 of its 54 references that are in the map.
- First posted on arXiv 24 May 2022.

## Builds on (most cited first, 30 of 41)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Domain-Adversarial Training of Neural Networks](https://mlsanity.com/paper/1505.07818/) (2015)
- [Empirical Evaluation of Gated Recurrent Neural Networks on Sequence Modeling](https://mlsanity.com/paper/1412.3555/) (2014)
- [ViLBERT: Pretraining Task-Agnostic Visiolinguistic Representations for Vision-and-Language Tasks](https://mlsanity.com/paper/1908.02265/) (2019)
- [Decoupled Weight Decay Regularization](https://mlsanity.com/paper/1711.05101/) (2017)
- [Align before Fuse: Vision and Language Representation Learning with Momentum Distillation](https://mlsanity.com/paper/2107.07651/) (2021)
- [CLEVR: A Diagnostic Dataset for Compositional Language and Elementary Visual Reasoning](https://mlsanity.com/paper/1612.06890/) (2016)
- [VisualBERT: A Simple and Performant Baseline for Vision and Language](https://mlsanity.com/paper/1908.03557/) (2019)
- [Modeling Context in Referring Expressions](https://mlsanity.com/paper/1608.00272/) (2016)
- [Generation and Comprehension of Unambiguous Object Descriptions](https://mlsanity.com/paper/1511.02283/) (2015)
- [MAttNet: Modular Attention Network for Referring Expression Comprehension](https://mlsanity.com/paper/1801.08186/) (2018)
- [Sim-to-Real Transfer in Deep Reinforcement Learning for Robotics: a Survey](https://mlsanity.com/paper/2009.13303/) (2020)
- [The Neuro-Symbolic Concept Learner: Interpreting Scenes, Words, and Sentences From Natural Supervision](https://mlsanity.com/paper/1904.12584/) (2019)
- [Neural-Symbolic VQA: Disentangling Reasoning from Vision and Language Understanding](https://mlsanity.com/paper/1810.02338/) (2018)
- [12-in-1: Multi-Task Vision and Language Representation Learning](https://mlsanity.com/paper/1912.02315/) (2019)
- [UNITER: UNiversal Image-TExt Representation Learning](https://mlsanity.com/paper/1909.11740/) (2019)
- [A Fast and Accurate One-Stage Approach to Visual Grounding](https://mlsanity.com/paper/1908.06354/) (2019)
- [ReCLIP: A Strong Zero-Shot Baseline for Referring Expression Comprehension](https://mlsanity.com/paper/2204.05991/) (2022)
- [Grounding of Textual Phrases in Images by Reconstruction](https://mlsanity.com/paper/1511.03745/) (2015)
- [Dynamic Graph Attention for Referring Expression Comprehension](https://mlsanity.com/paper/1909.08164/) (2019)
- [Modeling Relationships in Referential Expressions with Compositional Modular Networks](https://mlsanity.com/paper/1611.09978/) (2016)
- [Neighbourhood Watch: Referring Expression Comprehension via Language-guided Graph Attention Networks](https://mlsanity.com/paper/1812.04794/) (2018)
- [Learning to Compose Neural Networks for Question Answering](https://mlsanity.com/paper/1601.01705/) (2016)
- [Zero-Shot Grounding of Objects from Natural Language Queries](https://mlsanity.com/paper/1908.07129/) (2019)
- [Boosting Image Captioning with Attributes](https://mlsanity.com/paper/1611.01646/) (2016)
- [Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation](https://mlsanity.com/paper/2007.15157/) (2020)

## Built on by (most cited first, 2 of 2)

- [GVCCI: Lifelong Learning of Visual Grounding for Language-Guided Robotic Manipulation](https://mlsanity.com/paper/2307.05963/) (2023)
- [Enhancing Interpretability and Interactivity in Robot Manipulation: A Neurosymbolic Approach](https://mlsanity.com/paper/2210.00858/) (2022)

## Abstract (arXiv)

Service robots should be able to interact naturally with non-expert human users, not only to help them in various tasks but also to receive guidance in order to resolve ambiguities that might be present in the instruction. We consider the task of visual grounding, where the agent segments an object from a crowded scene given a natural language description. Modern holistic approaches to visual grounding usually ignore language structure and struggle to cover generic domains, therefore relying heavily on large datasets. Additionally, their transfer performance in RGB-D datasets suffers due to high visual discrepancy between the benchmark and the target domains. Modular approaches marry learning with domain modeling and exploit the compositional nature of language to decouple visual representation from language parsing, but either rely on external parsers or are trained in an end-to-end fashion due to the lack of strong supervision. In this work, we seek to tackle these limitations by introducing a fully decoupled modular framework for compositional visual grounding of entities, attributes, and spatial relations. We exploit rich scene graph annotations generated in a synthetic domain and train each module independently. Our approach is evaluated both in simulation and in two real RGB-D scene datasets. Experimental results show that the decoupled nature of our framework allows for easy integration with domain adaptation approaches for Sim-To-Real visual recognition, offering a data-efficient, robust, and interpretable solution to visual grounding in robotic applications.