PTE: Predictive Text Embedding through Large-scale Heterogeneous Text Networks

Unsupervised text embedding methods, such as Skip-gram and Paragraph Vector, have been attracting increasing attention due to their simplicity, scalability, and effectiveness. However, comparing to sophisticated deep learning architectures such as convolutional neural networks, these methods usually yield inferior results when applied to particular machine learning tasks. One possible reason is that these text embedding methods learn the representation of text in a fully unsupervised way, without leveraging the labeled information available for the task. Although the low dimensional representations learned are applicable to many different tasks, they are not particularly tuned for any task. In this paper, we fill this gap by proposing a semi-supervised representation learning method for text data, which we call the \textit{predictive text embedding} (PTE). Predictive text embedding utilizes both labeled and unlabeled data to learn the embedding of text. The labeled information and different levels of word co-occurrence information are first represented as a large-scale heterogeneous text network, which is then embedded into a low dimensional space through a principled and efficient algorithm. This low dimensional embedding not only preserves the semantic closeness of words and documents, but also has a strong predictive power for the particular task. Compared to recent supervised approaches based on convolutional neural networks, predictive text embedding is comparable or more effective, much more efficient, and has fewer parameters to tune.Comment: KDD 201

Deep Predictive Policy Training using Reinforcement Learning

Skilled robot task learning is best implemented by predictive action policies due to the inherent latency of sensorimotor processes. However, training such predictive policies is challenging as it involves finding a trajectory of motor activations for the full duration of the action. We propose a data-efficient deep predictive policy training (DPPT) framework with a deep neural network policy architecture which maps an image observation to a sequence of motor activations. The architecture consists of three sub-networks referred to as the perception, policy and behavior super-layers. The perception and behavior super-layers force an abstraction of visual and motor data trained with synthetic and simulated training samples, respectively. The policy super-layer is a small sub-network with fewer parameters that maps data in-between the abstracted manifolds. It is trained for each task using methods for policy search reinforcement learning. We demonstrate the suitability of the proposed architecture and learning framework by training predictive policies for skilled object grasping and ball throwing on a PR2 robot. The effectiveness of the method is illustrated by the fact that these tasks are trained using only about 180 real robot attempts with qualitative terminal rewards.Comment: This work is submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems 2017 (IROS2017