# Da Yu: Towards USV-Based Image Captioning for Waterway Surveillance and Scene Understanding

arXiv: https://arxiv.org/abs/2506.19288 · HTML: https://mlsanity.com/paper/2506.19288/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Embodied and 3D vision-language models, one of 16 directions in Multimodal LLMs / vision-language models.
- Builds on 41 of its 57 references that are in the map.
- First posted on arXiv 24 Jun 2025.

## Placed in

- Multimodal LLMs / vision-language models / [Embodied and 3D vision-language models](https://mlsanity.com/mllm/embodied-and-3d-vision-language-models/)

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

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- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Qwen2.5 Technical Report](https://mlsanity.com/paper/2412.15115/) (2024)
- [BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generation](https://mlsanity.com/paper/2201.12086/) (2022)
- [Sigmoid Loss for Language Image Pre-Training](https://mlsanity.com/paper/2303.15343/) (2023)
- [InternVL: Scaling up Vision Foundation Models and Aligning for Generic Visual-Linguistic Tasks](https://mlsanity.com/paper/2312.14238/) (2023)
- [CIDEr: Consensus-based Image Description Evaluation](https://mlsanity.com/paper/1411.5726/) (2014)
- [Align before Fuse: Vision and Language Representation Learning with Momentum Distillation](https://mlsanity.com/paper/2107.07651/) (2021)
- [Microsoft COCO Captions: Data Collection and Evaluation Server](https://mlsanity.com/paper/1504.00325/) (2015)
- [Flickr30k Entities: Collecting Region-to-Phrase Correspondences for Richer Image-to-Sentence Models](https://mlsanity.com/paper/1505.04870/) (2015)
- [CoCa: Contrastive Captioners are Image-Text Foundation Models](https://mlsanity.com/paper/2205.01917/) (2022)
- [Conceptual 12M: Pushing Web-Scale Image-Text Pre-Training To Recognize Long-Tail Visual Concepts](https://mlsanity.com/paper/2102.08981/) (2021)
- [Oscar: Object-Semantics Aligned Pre-training for Vision-Language Tasks](https://mlsanity.com/paper/2004.06165/) (2020)
- [MiniCPM-V: A GPT-4V Level MLLM on Your Phone](https://mlsanity.com/paper/2408.01800/) (2024)
- [VizWiz Grand Challenge: Answering Visual Questions from Blind People](https://mlsanity.com/paper/1802.08218/) (2018)
- [DriveLM: Driving with Graph Visual Question Answering](https://mlsanity.com/paper/2312.14150/) (2023)
- [TextCaps: a Dataset for Image Captioning with Reading Comprehension](https://mlsanity.com/paper/2003.12462/) (2020)
- [Learning Deep Representations of Fine-grained Visual Descriptions](https://mlsanity.com/paper/1605.05395/) (2016)
- [MobileVLM V2: Faster and Stronger Baseline for Vision Language Model](https://mlsanity.com/paper/2402.03766/) (2024)
- [TinyLLaVA: A Framework of Small-scale Large Multimodal Models](https://mlsanity.com/paper/2402.14289/) (2024)
- [MobileCLIP: Fast Image-Text Models through Multi-Modal Reinforced Training](https://mlsanity.com/paper/2311.17049/) (2023)
- [Agent Attention: On the Integration of Softmax and Linear Attention](https://mlsanity.com/paper/2312.08874/) (2023)
- [Multimodal Transformer with Multi-View Visual Representation for Image Captioning](https://mlsanity.com/paper/1905.07841/) (2019)
- [Dual-Level Collaborative Transformer for Image Captioning](https://mlsanity.com/paper/2101.06462/) (2021)
- [MobileVLM: A Vision-Language Model for Better Intra- and Inter-UI Understanding](https://mlsanity.com/paper/2409.14818/) (2024)
- [Deep Learning Approaches on Image Captioning: A Review](https://mlsanity.com/paper/2201.12944/) (2022)
- [Fashion Captioning: Towards Generating Accurate Descriptions with Semantic Rewards](https://mlsanity.com/paper/2008.02693/) (2020)

## Abstract (arXiv)

Automated waterway environment perception is crucial for enabling unmanned surface vessels (USVs) to understand their surroundings and make informed decisions. Most existing waterway perception models primarily focus on instance-level object perception paradigms (e.g., detection, segmentation). However, due to the complexity of waterway environments, current perception datasets and models fail to achieve global semantic understanding of waterways, limiting large-scale monitoring and structured log generation. With the advancement of vision-language models (VLMs), we leverage image captioning to introduce WaterCaption, the first captioning dataset specifically designed for waterway environments. WaterCaption focuses on fine-grained, multi-region long-text descriptions, providing a new research direction for visual geo-understanding and spatial scene cognition. Exactly, it includes 20.2k image-text pair data with 1.8 million vocabulary size. Additionally, we propose Da Yu, an edge-deployable multi-modal large language model for USVs, where we propose a novel vision-to-language projector called Nano Transformer Adaptor (NTA). NTA effectively balances computational efficiency with the capacity for both global and fine-grained local modeling of visual features, thereby significantly enhancing the model's ability to generate long-form textual outputs. Da Yu achieves an optimal balance between performance and efficiency, surpassing state-of-the-art models on WaterCaption and several other captioning benchmarks.