# Explore and Tell: Embodied Visual Captioning in 3D Environments

arXiv: https://arxiv.org/abs/2308.10447 · HTML: https://mlsanity.com/paper/2308.10447/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 39 of its 51 references that are in the map.
- First posted on arXiv 21 Aug 2023.

## Builds on (most cited first, 30 of 39)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [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)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generation](https://mlsanity.com/paper/2201.12086/) (2022)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [CIDEr: Consensus-based Image Description Evaluation](https://mlsanity.com/paper/1411.5726/) (2014)
- [Microsoft COCO Captions: Data Collection and Evaluation Server](https://mlsanity.com/paper/1504.00325/) (2015)
- [Show, Attend and Tell: Neural Image Caption Generation with Visual Attention](https://mlsanity.com/paper/1502.03044/) (2015)
- [Bottom-Up and Top-Down Attention for Image Captioning and Visual Question Answering](https://mlsanity.com/paper/1707.07998/) (2017)
- [Oscar: Object-Semantics Aligned Pre-training for Vision-Language Tasks](https://mlsanity.com/paper/2004.06165/) (2020)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [SPICE: Semantic Propositional Image Caption Evaluation](https://mlsanity.com/paper/1607.08822/) (2016)
- [SimVLM: Simple Visual Language Model Pretraining with Weak Supervision](https://mlsanity.com/paper/2108.10904/) (2021)
- [Towards Automatic Learning of Procedures from Web Instructional Videos](https://mlsanity.com/paper/1703.09788/) (2017)
- [Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items](https://mlsanity.com/paper/2204.11918/) (2022)
- [Unified Vision-Language Pre-Training for Image Captioning and VQA](https://mlsanity.com/paper/1909.11059/) (2019)
- [nocaps: novel object captioning at scale](https://mlsanity.com/paper/1812.08658/) (2018)
- [VATEX: A Large-Scale, High-Quality Multilingual Dataset for Video-and-Language Research](https://mlsanity.com/paper/1904.03493/) (2019)
- [TextCaps: a Dataset for Image Captioning with Reading Comprehension](https://mlsanity.com/paper/2003.12462/) (2020)
- [Kubric: A scalable dataset generator](https://mlsanity.com/paper/2203.03570/) (2022)
- [Embodied Question Answering](https://mlsanity.com/paper/1711.11543/) (2017)
- [REVERIE: Remote Embodied Visual Referring Expression in Real Indoor Environments](https://mlsanity.com/paper/1904.10151/) (2019)
- [Scan2Cap: Context-aware Dense Captioning in RGB-D Scans](https://mlsanity.com/paper/2012.02206/) (2020)
- [X-Linear Attention Networks for Image Captioning](https://mlsanity.com/paper/2003.14080/) (2020)
- [Captioning Images Taken by People Who Are Blind](https://mlsanity.com/paper/2002.08565/) (2020)
- [A Hierarchical Approach for Generating Descriptive Image Paragraphs](https://mlsanity.com/paper/1611.06607/) (2016)
- [TAP: Text-Aware Pre-training for Text-VQA and Text-Caption](https://mlsanity.com/paper/2012.04638/) (2020)
- [Say As You Wish: Fine-grained Control of Image Caption Generation with Abstract Scene Graphs](https://mlsanity.com/paper/2003.00387/) (2020)

## Built on by (most cited first, 3 of 3)

- [Self-Explainable Affordance Learning with Embodied Caption](https://mlsanity.com/paper/2404.05603/) (2024)
- [Embodied Image Captioning: Self-supervised Learning Agents for Spatially Coherent Image Descriptions](https://mlsanity.com/paper/2504.08531/) (2025)
- [Memory-Augmented Vision-Language Agents for Persistent and Semantically Consistent Object Captioning](https://mlsanity.com/paper/2603.24257/) (2026)

## Abstract (arXiv)

While current visual captioning models have achieved impressive performance, they often assume that the image is well-captured and provides a complete view of the scene. In real-world scenarios, however, a single image may not offer a good viewpoint, hindering fine-grained scene understanding. To overcome this limitation, we propose a novel task called Embodied Captioning, which equips visual captioning models with navigation capabilities, enabling them to actively explore the scene and reduce visual ambiguity from suboptimal viewpoints. Specifically, starting at a random viewpoint, an agent must navigate the environment to gather information from different viewpoints and generate a comprehensive paragraph describing all objects in the scene. To support this task, we build the ET-Cap dataset with Kubric simulator, consisting of 10K 3D scenes with cluttered objects and three annotated paragraphs per scene. We propose a Cascade Embodied Captioning model (CaBOT), which comprises of a navigator and a captioner, to tackle this task. The navigator predicts which actions to take in the environment, while the captioner generates a paragraph description based on the whole navigation trajectory. Extensive experiments demonstrate that our model outperforms other carefully designed baselines. Our dataset, codes and models are available at https://aim3-ruc.github.io/ExploreAndTell.