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A system includes: a training dataset including first objects of a first modality and second objects of a second modality different than the first modality, where the second objects include text that is descriptive of the first objects; a first matrix including first relevance values indicative of relevance between the first objects and the second objects, respectively; a second matrix including second relevance values indicative of relevance between the second objects and the first objects, respectively; and a training module configured to: assign ones of the second objects to bins based on distances between the ones of the objects and a query; determine a ranking measure based on a number of the ones of the second objects assigned to the bins; determine losses based on the ranking measure and the first and second matrices; determine a final loss based on the losses; train embedding functions based on the final loss.