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Alignment before Awareness: Towards Visual Question Localized-Answering in Robotic Surgery via Optimal Transport and Answer Semantics

The visual question localized-answering (VQLA) system has garnered increasing attention due to its potential as a knowledgeable assistant in surgical education. Apart from providing text-based answers, VQLA can also pinpoint the specific region of interest for better surgical scene understanding. Although recent Transformer-based models for VQLA have obtained promising results, they (1) conduct vanilla text-to-image cross attention, leading to unidirectional and coarse-grained alignment; (2) ignore exploiting the semantics of answers to further boost performance. In this paper, we propose a novel model termed OTAS, which first introduces optimal transport to achieve bidirectional and fine-grained alignment between images and questions, enabling more precise localization. Besides, OTAS incorporates a set of learnable candidate answer embeddings to query the probability of each answer class for a given image-question pair. Through Transformer attention, the candidate answer embeddings interact with the fused features of the image-question pair to make the answer decision. Extensive experiments on two widely-used benchmark datasets demonstrate the superiority of our model over state-of-the-art methods.