50,743 research outputs found
Symbol Emergence in Robotics: A Survey
Humans can learn the use of language through physical interaction with their
environment and semiotic communication with other people. It is very important
to obtain a computational understanding of how humans can form a symbol system
and obtain semiotic skills through their autonomous mental development.
Recently, many studies have been conducted on the construction of robotic
systems and machine-learning methods that can learn the use of language through
embodied multimodal interaction with their environment and other systems.
Understanding human social interactions and developing a robot that can
smoothly communicate with human users in the long term, requires an
understanding of the dynamics of symbol systems and is crucially important. The
embodied cognition and social interaction of participants gradually change a
symbol system in a constructive manner. In this paper, we introduce a field of
research called symbol emergence in robotics (SER). SER is a constructive
approach towards an emergent symbol system. The emergent symbol system is
socially self-organized through both semiotic communications and physical
interactions with autonomous cognitive developmental agents, i.e., humans and
developmental robots. Specifically, we describe some state-of-art research
topics concerning SER, e.g., multimodal categorization, word discovery, and a
double articulation analysis, that enable a robot to obtain words and their
embodied meanings from raw sensory--motor information, including visual
information, haptic information, auditory information, and acoustic speech
signals, in a totally unsupervised manner. Finally, we suggest future
directions of research in SER.Comment: submitted to Advanced Robotic
Towards Diverse and Natural Image Descriptions via a Conditional GAN
Despite the substantial progress in recent years, the image captioning
techniques are still far from being perfect.Sentences produced by existing
methods, e.g. those based on RNNs, are often overly rigid and lacking in
variability. This issue is related to a learning principle widely used in
practice, that is, to maximize the likelihood of training samples. This
principle encourages high resemblance to the "ground-truth" captions while
suppressing other reasonable descriptions. Conventional evaluation metrics,
e.g. BLEU and METEOR, also favor such restrictive methods. In this paper, we
explore an alternative approach, with the aim to improve the naturalness and
diversity -- two essential properties of human expression. Specifically, we
propose a new framework based on Conditional Generative Adversarial Networks
(CGAN), which jointly learns a generator to produce descriptions conditioned on
images and an evaluator to assess how well a description fits the visual
content. It is noteworthy that training a sequence generator is nontrivial. We
overcome the difficulty by Policy Gradient, a strategy stemming from
Reinforcement Learning, which allows the generator to receive early feedback
along the way. We tested our method on two large datasets, where it performed
competitively against real people in our user study and outperformed other
methods on various tasks.Comment: accepted in ICCV2017 as an Oral pape
CompILE: Compositional Imitation Learning and Execution
We introduce Compositional Imitation Learning and Execution (CompILE): a
framework for learning reusable, variable-length segments of
hierarchically-structured behavior from demonstration data. CompILE uses a
novel unsupervised, fully-differentiable sequence segmentation module to learn
latent encodings of sequential data that can be re-composed and executed to
perform new tasks. Once trained, our model generalizes to sequences of longer
length and from environment instances not seen during training. We evaluate
CompILE in a challenging 2D multi-task environment and a continuous control
task, and show that it can find correct task boundaries and event encodings in
an unsupervised manner. Latent codes and associated behavior policies
discovered by CompILE can be used by a hierarchical agent, where the high-level
policy selects actions in the latent code space, and the low-level,
task-specific policies are simply the learned decoders. We found that our
CompILE-based agent could learn given only sparse rewards, where agents without
task-specific policies struggle.Comment: ICML (2019
TensorLayer: A Versatile Library for Efficient Deep Learning Development
Deep learning has enabled major advances in the fields of computer vision,
natural language processing, and multimedia among many others. Developing a
deep learning system is arduous and complex, as it involves constructing neural
network architectures, managing training/trained models, tuning optimization
process, preprocessing and organizing data, etc. TensorLayer is a versatile
Python library that aims at helping researchers and engineers efficiently
develop deep learning systems. It offers rich abstractions for neural networks,
model and data management, and parallel workflow mechanism. While boosting
efficiency, TensorLayer maintains both performance and scalability. TensorLayer
was released in September 2016 on GitHub, and has helped people from academia
and industry develop real-world applications of deep learning.Comment: ACM Multimedia 201
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