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Learning-based methods commonly treat state estimation in robotics as a sequence modeling problem. While this paradigm can be effective at maximizing end-to-end performance, models are often difficult to interpret and expensive to train,…

Robotics · Computer Science 2026-05-07 Lennart Röstel , Berthold Bäuml

Automatically captioning images with natural language sentences is an important research topic. State of the art models are able to produce human-like sentences. These models typically describe the depicted scene as a whole and do not…

Computer Vision and Pattern Recognition · Computer Science 2019-08-07 Philipp Harzig , Stephan Brehm , Rainer Lienhart , Carolin Kaiser , René Schallner

Most RNN-based image captioning models receive supervision on the output words to mimic human captions. Therefore, the hidden states can only receive noisy gradient signals via layers of back-propagation through time, leading to less…

Computer Vision and Pattern Recognition · Computer Science 2020-01-16 Jialin Wu , Raymond J. Mooney

Reinforcement learning, mathematically described by Markov Decision Problems, may be approached either through dynamic programming or policy search. Actor-critic algorithms combine the merits of both approaches by alternating between steps…

Machine Learning · Computer Science 2023-01-31 Harshat Kumar , Alec Koppel , Alejandro Ribeiro

Current imitation learning techniques are too restrictive because they require the agent and expert to share the same action space. However, oftentimes agents that act differently from the expert can solve the task just as good. For…

Machine Learning · Computer Science 2018-09-18 Nir Baram , Shie Mannor

Bayesian deep neural networks (DNNs) can provide a mathematically grounded framework to quantify uncertainty in predictions from image captioning models. We propose a Bayesian variant of policy-gradient based reinforcement learning training…

Machine Learning · Computer Science 2020-06-30 Shashank Bujimalla , Mahesh Subedar , Omesh Tickoo

Though impressive results have been achieved in visual captioning, the task of generating abstract stories from photo streams is still a little-tapped problem. Different from captions, stories have more expressive language styles and…

Computation and Language · Computer Science 2018-07-10 Xin Wang , Wenhu Chen , Yuan-Fang Wang , William Yang Wang

Actor-critic methods, a type of model-free Reinforcement Learning, have been successfully applied to challenging tasks in continuous control, often achieving state-of-the art performance. However, wide-scale adoption of these methods in…

Machine Learning · Statistics 2019-10-29 Kamil Ciosek , Quan Vuong , Robert Loftin , Katja Hofmann

Actor critic methods with sparse rewards in model-based deep reinforcement learning typically require a deterministic binary reward function that reflects only two possible outcomes: if, for each step, the goal has been achieved or not. Our…

Machine Learning · Computer Science 2020-01-22 Juan Vargas , Lazar Andjelic , Amir Barati Farimani

Image captioning is the process of generating a natural language description of an image. Most current image captioning models, however, do not take into account the emotional aspect of an image, which is very relevant to activities and…

Computer Vision and Pattern Recognition · Computer Science 2019-01-28 Omid Mohamad Nezami , Mark Dras , Peter Anderson , Len Hamey

We present a novel data-efficient semi-supervised framework to improve the generalization of image captioning models. Constructing a large-scale labeled image captioning dataset is an expensive task in terms of labor, time, and cost. In…

Computer Vision and Pattern Recognition · Computer Science 2023-01-27 Dong-Jin Kim , Tae-Hyun Oh , Jinsoo Choi , In So Kweon

We propose SC-Captioner, a reinforcement learning framework that enables the self-correcting capability of image caption models. Our crucial technique lies in the design of the reward function to incentivize accurate caption corrections.…

Computer Vision and Pattern Recognition · Computer Science 2025-08-11 Lin Zhang , Xianfang Zeng , Kangcong Li , Gang Yu , Tao Chen

The image captioning task is about to generate suitable descriptions from images. For this task there can be several challenges such as accuracy, fluency and diversity. However there are few metrics that can cover all these properties while…

Computer Vision and Pattern Recognition · Computer Science 2020-12-15 Chao Zeng , Sam Kwong

The Controllable Image Captioning (CIC) task aims to generate captions conditioned on designated control signals. Several structure-related control signals are proposed to control the semantic structure of sentences, such as sentence length…

Artificial Intelligence · Computer Science 2021-11-23 Zhangzi Zhu , Tianlei Wang , Hong Qu

Significant performance gains in deep learning coupled with the exponential growth of image and video data on the Internet have resulted in the recent emergence of automated image captioning systems. Ensuring scalability of automated image…

Computer Vision and Pattern Recognition · Computer Science 2016-06-07 Karan Sharma , Arun CS Kumar , Suchendra Bhandarkar

Image captioning is a longstanding problem in the field of computer vision and natural language processing. To date, researchers have produced impressive state-of-the-art performance in the age of deep learning. Most of these…

Computer Vision and Pattern Recognition · Computer Science 2022-07-20 Zihang Meng , David Yang , Xuefei Cao , Ashish Shah , Ser-Nam Lim

Reinforcement learning (RL) actor-critic algorithms enable autonomous learning but often require a large number of environment interactions, which limits their applicability in robotics. Leveraging expert data can reduce the number of…

Machine Learning · Computer Science 2026-03-02 Andreas Kernbach , Amr Elsheikh , Nicolas Grupp , René Nagel , Marco F. Huber

Image Captioning is a task that combines computer vision and natural language processing, where it aims to generate descriptive legends for images. It is a two-fold process relying on accurate image understanding and correct language…

Computer Vision and Pattern Recognition · Computer Science 2021-07-29 Ahmed Elhagry , Karima Kadaoui

One of the fundamental challenges in reinforcement learning (RL) is the one of data efficiency: modern algorithms require a very large number of training samples, especially compared to humans, for solving environments with high-dimensional…

Machine Learning · Computer Science 2021-05-10 Hlynur Davíð Hlynsson , Laurenz Wiskott

The recent progress on image recognition and language modeling is making automatic description of image content a reality. However, stylized, non-factual aspects of the written description are missing from the current systems. One such…

Computer Vision and Pattern Recognition · Computer Science 2015-12-15 Alexander Mathews , Lexing Xie , Xuming He