# Discovering Novel Actions from Open World Egocentric Videos with Object-Grounded Visual Commonsense Reasoning

arXiv: https://arxiv.org/abs/2305.16602 · HTML: https://mlsanity.com/paper/2305.16602/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 44 of its 65 references that are in the map.
- First posted on arXiv 26 May 2023.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)

## Builds on (most cited first, 30 of 44)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [RoBERTa: A Robustly Optimized BERT Pretraining Approach](https://mlsanity.com/paper/1907.11692/) (2019)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [On the Opportunities and Risks of Foundation Models](https://mlsanity.com/paper/2108.07258/) (2021)
- [Scaling Up Visual and Vision-Language Representation Learning With Noisy Text Supervision](https://mlsanity.com/paper/2102.05918/) (2021)
- [Supervised Contrastive Learning](https://mlsanity.com/paper/2004.11362/) (2020)
- [Sparks of Artificial General Intelligence: Early experiments with GPT-4](https://mlsanity.com/paper/2303.12712/) (2023)
- [The Kinetics Human Action Video Dataset](https://mlsanity.com/paper/1705.06950/) (2017)
- [Is Space-Time Attention All You Need for Video Understanding?](https://mlsanity.com/paper/2102.05095/) (2021)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [CoCa: Contrastive Captioners are Image-Text Foundation Models](https://mlsanity.com/paper/2205.01917/) (2022)
- [Frozen in Time: A Joint Video and Image Encoder for End-to-End Retrieval](https://mlsanity.com/paper/2104.00650/) (2021)
- [Two-Stream Convolutional Networks for Action Recognition in Videos](https://mlsanity.com/paper/1406.2199/) (2014)
- [ConceptNet 5.5: An Open Multilingual Graph of General Knowledge](https://mlsanity.com/paper/1612.03975/) (2016)
- [HowTo100M: Learning a Text-Video Embedding by Watching Hundred Million Narrated Video Clips](https://mlsanity.com/paper/1906.03327/) (2019)
- [Open-vocabulary Object Detection via Vision and Language Knowledge Distillation](https://mlsanity.com/paper/2104.13921/) (2021)
- [From Recognition to Cognition: Visual Commonsense Reasoning](https://mlsanity.com/paper/1811.10830/) (2018)
- [Rescaling Egocentric Vision](https://mlsanity.com/paper/2006.13256/) (2020)
- [Rethinking Spatiotemporal Feature Learning: Speed-Accuracy Trade-offs in Video Classification](https://mlsanity.com/paper/1712.04851/) (2017)
- [End-to-End Learning of Visual Representations from Uncurated Instructional Videos](https://mlsanity.com/paper/1912.06430/) (2019)
- [COMET: Commonsense Transformers for Automatic Knowledge Graph Construction](https://mlsanity.com/paper/1906.05317/) (2019)
- [Visual Classification via Description from Large Language Models](https://mlsanity.com/paper/2210.07183/) (2022)
- [Learning to Prompt for Open-Vocabulary Object Detection with Vision-Language Model](https://mlsanity.com/paper/2203.14940/) (2022)
- [Egocentric Video-Language Pretraining](https://mlsanity.com/paper/2206.01670/) (2022)
- [The EPIC-KITCHENS Dataset: Collection, Challenges and Baselines](https://mlsanity.com/paper/2005.00343/) (2020)
- [Learning Video Representations from Large Language Models](https://mlsanity.com/paper/2212.04501/) (2022)

## Built on by (most cited first, 6 of 6)

- [Challenges and Trends in Egocentric Vision: A Survey](https://mlsanity.com/paper/2503.15275/) (2025)
- [ProbRes: Probabilistic Jump Diffusion for Open-World Egocentric Activity Recognition](https://mlsanity.com/paper/2504.03948/) (2025)
- [CRAFT: A Neuro-Symbolic Framework for Visual Functional Affordance Grounding](https://mlsanity.com/paper/2507.14426/) (2025)
- [A Probabilistic Jump-Diffusion Framework for Open-World Egocentric Activity Recognition](https://mlsanity.com/paper/2505.22858/) (2025)
- [Hallucinate, Ground, Repeat: A Framework for Generalized Visual Relationship Detection](https://mlsanity.com/paper/2506.05651/) (2025)
- [CRAFT-E: A Neuro-Symbolic Framework for Embodied Affordance Grounding](https://mlsanity.com/paper/2512.04231/) (2025)

## Abstract (arXiv)

Learning to infer labels in an open world, i.e., in an environment where the target ``labels'' are unknown, is an important characteristic for achieving autonomy. Foundation models, pre-trained on enormous amounts of data, have shown remarkable generalization skills through prompting, particularly in zero-shot inference. However, their performance is restricted to the correctness of the target label's search space, i.e., candidate labels provided in the prompt. This target search space can be unknown or exceptionally large in an open world, severely restricting their performance. To tackle this challenging problem, we propose a two-step, neuro-symbolic framework called ALGO - Action Learning with Grounded Object recognition that uses symbolic knowledge stored in large-scale knowledge bases to infer activities in egocentric videos with limited supervision. First, we propose a neuro-symbolic prompting approach that uses object-centric vision-language models as a noisy oracle to ground objects in the video through evidence-based reasoning. Second, driven by prior commonsense knowledge, we discover plausible activities through an energy-based symbolic pattern theory framework and learn to ground knowledge-based action (verb) concepts in the video. Extensive experiments on four publicly available datasets (EPIC-Kitchens, GTEA Gaze, GTEA Gaze Plus, and Charades-Ego) demonstrate its performance on open-world activity inference. We also show that ALGO can be extended to zero-shot inference and demonstrate its competitive performance on the Charades-Ego dataset.