# InViG: Benchmarking Interactive Visual Grounding with 500K Human-Robot Interactions

arXiv: https://arxiv.org/abs/2310.12147 · HTML: https://mlsanity.com/paper/2310.12147/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 48 of its 70 references that are in the map.
- First posted on arXiv 18 Oct 2023.

## Builds on (most cited first, 30 of 48)

- [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)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [OPT: Open Pre-trained Transformer Language Models](https://mlsanity.com/paper/2205.01068/) (2022)
- [MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models](https://mlsanity.com/paper/2304.10592/) (2023)
- [Visual Genome: Connecting Language and Vision Using Crowdsourced Dense Image Annotations](https://mlsanity.com/paper/1602.07332/) (2016)
- [Making the V in VQA Matter: Elevating the Role of Image Understanding in Visual Question Answering](https://mlsanity.com/paper/1612.00837/) (2016)
- [Emergent Abilities of Large Language Models](https://mlsanity.com/paper/2206.07682/) (2022)
- [ViLBERT: Pretraining Task-Agnostic Visiolinguistic Representations for Vision-and-Language Tasks](https://mlsanity.com/paper/1908.02265/) (2019)
- [CIDEr: Consensus-based Image Description Evaluation](https://mlsanity.com/paper/1411.5726/) (2014)
- [BLOOM: A 176B-Parameter Open-Access Multilingual Language Model](https://mlsanity.com/paper/2211.05100/) (2022)
- [Microsoft COCO Captions: Data Collection and Evaluation Server](https://mlsanity.com/paper/1504.00325/) (2015)
- [Grounded Language-Image Pre-training](https://mlsanity.com/paper/2112.03857/) (2021)
- [OK-VQA: A Visual Question Answering Benchmark Requiring External Knowledge](https://mlsanity.com/paper/1906.00067/) (2019)
- [Modeling Context in Referring Expressions](https://mlsanity.com/paper/1608.00272/) (2016)
- [VL-BERT: Pre-training of Generic Visual-Linguistic Representations](https://mlsanity.com/paper/1908.08530/) (2019)
- [MDETR -- Modulated Detection for End-to-End Multi-Modal Understanding](https://mlsanity.com/paper/2104.12763/) (2021)
- [OFA: Unifying Architectures, Tasks, and Modalities Through a Simple Sequence-to-Sequence Learning Framework](https://mlsanity.com/paper/2202.03052/) (2022)
- [CLIPort: What and Where Pathways for Robotic Manipulation](https://mlsanity.com/paper/2109.12098/) (2021)
- [Detecting Twenty-thousand Classes using Image-level Supervision](https://mlsanity.com/paper/2201.02605/) (2022)
- [Language Is Not All You Need: Aligning Perception with Language Models](https://mlsanity.com/paper/2302.14045/) (2023)
- [A Corpus for Reasoning About Natural Language Grounded in Photographs](https://mlsanity.com/paper/1811.00491/) (2018)
- [Unifying Vision-and-Language Tasks via Text Generation](https://mlsanity.com/paper/2102.02779/) (2021)
- [Visual Dialog](https://mlsanity.com/paper/1611.08669/) (2016)
- [12-in-1: Multi-Task Vision and Language Representation Learning](https://mlsanity.com/paper/1912.02315/) (2019)
- [Multi-Grained Vision Language Pre-Training: Aligning Texts with Visual Concepts](https://mlsanity.com/paper/2111.08276/) (2021)

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

- [SAMTok: Representing Any Mask with Two Words](https://mlsanity.com/paper/2601.16093/) (2026)
- [SInViG: A Self-Evolving Interactive Visual Agent for Human-Robot Interaction](https://mlsanity.com/paper/2402.11792/) (2024)

## Abstract (arXiv)

Ambiguity is ubiquitous in human communication. Previous approaches in Human-Robot Interaction (HRI) have often relied on predefined interaction templates, leading to reduced performance in realistic and open-ended scenarios. To address these issues, we present a large-scale dataset, invig, for interactive visual grounding under language ambiguity. Our dataset comprises over 520K images accompanied by open-ended goal-oriented disambiguation dialogues, encompassing millions of object instances and corresponding question-answer pairs. Leveraging the invig dataset, we conduct extensive studies and propose a set of baseline solutions for end-to-end interactive visual disambiguation and grounding, achieving a 45.6% success rate during validation. To the best of our knowledge, the invig dataset is the first large-scale dataset for resolving open-ended interactive visual grounding, presenting a practical yet highly challenging benchmark for ambiguity-aware HRI. Codes and datasets are available at: hrefhttps://openivg.github.iohttps://openivg.github.io.