Visual Imitation Learning with Recurrent Siamese Networks

It would be desirable for a reinforcement learning (RL) based agent to learn behaviour by merely watching a demonstration. However, defining rewards that facilitate this goal within the RL paradigm remains a challenge. Here we address this problem with Siamese networks, trained to compute distances between observed behaviours and the agent's behaviours. Given a desired motion such Siamese networks can be used to provide a reward signal to an RL agent via the distance between the desired motion and the agent's motion. We experiment with an RNN-based comparator model that can compute distances in space and time between motion clips while training an RL policy to minimize this distance. Through experimentation, we have had also found that the inclusion of multi-task data and an additional image encoding loss helps enforce the temporal consistency. These two components appear to balance reward for matching a specific instance of behaviour versus that behaviour in general. Furthermore, we focus here on a particularly challenging form of this problem where only a single demonstration is provided for a given task -- the one-shot learning setting. We demonstrate our approach on humanoid agents in both 2D with $10$ degrees of freedom (DoF) and 3D with $38$ DoF.Comment: PrePrin

Gated Convolutional Bidirectional Attention-based Model for Off-topic Spoken Response Detection

Off-topic spoken response detection, the task aiming at predicting whether a response is off-topic for the corresponding prompt, is important for an automated speaking assessment system. In many real-world educational applications, off-topic spoken response detectors are required to achieve high recall for off-topic responses not only on seen prompts but also on prompts that are unseen during training. In this paper, we propose a novel approach for off-topic spoken response detection with high off-topic recall on both seen and unseen prompts. We introduce a new model, Gated Convolutional Bidirectional Attention-based Model (GCBiA), which applies bi-attention mechanism and convolutions to extract topic words of prompts and key-phrases of responses, and introduces gated unit and residual connections between major layers to better represent the relevance of responses and prompts. Moreover, a new negative sampling method is proposed to augment training data. Experiment results demonstrate that our novel approach can achieve significant improvements in detecting off-topic responses with extremely high on-topic recall, for both seen and unseen prompts.Comment: ACL2020 long pape