Learning the Semantics of Manipulation Action

In this paper we present a formal computational framework for modeling manipulation actions. The introduced formalism leads to semantics of manipulation action and has applications to both observing and understanding human manipulation actions as well as executing them with a robotic mechanism (e.g. a humanoid robot). It is based on a Combinatory Categorial Grammar. The goal of the introduced framework is to: (1) represent manipulation actions with both syntax and semantic parts, where the semantic part employs $\lambda$-calculus; (2) enable a probabilistic semantic parsing schema to learn the $\lambda$-calculus representation of manipulation action from an annotated action corpus of videos; (3) use (1) and (2) to develop a system that visually observes manipulation actions and understands their meaning while it can reason beyond observations using propositional logic and axiom schemata. The experiments conducted on a public available large manipulation action dataset validate the theoretical framework and our implementation

Challenging Neural Dialogue Models with Natural Data: Memory Networks Fail on Incremental Phenomena

Natural, spontaneous dialogue proceeds incrementally on a word-by-word basis; and it contains many sorts of disfluency such as mid-utterance/sentence hesitations, interruptions, and self-corrections. But training data for machine learning approaches to dialogue processing is often either cleaned-up or wholly synthetic in order to avoid such phenomena. The question then arises of how well systems trained on such clean data generalise to real spontaneous dialogue, or indeed whether they are trainable at all on naturally occurring dialogue data. To answer this question, we created a new corpus called bAbI+ by systematically adding natural spontaneous incremental dialogue phenomena such as restarts and self-corrections to the Facebook AI Research's bAbI dialogues dataset. We then explore the performance of a state-of-the-art retrieval model, MemN2N, on this more natural dataset. Results show that the semantic accuracy of the MemN2N model drops drastically; and that although it is in principle able to learn to process the constructions in bAbI+, it needs an impractical amount of training data to do so. Finally, we go on to show that an incremental, semantic parser -- DyLan -- shows 100% semantic accuracy on both bAbI and bAbI+, highlighting the generalisation properties of linguistically informed dialogue models.Comment: 9 pages, 3 figures, 2 tables. Accepted as a full paper for SemDial 201

Synthesizing Program Input Grammars

We present an algorithm for synthesizing a context-free grammar encoding the language of valid program inputs from a set of input examples and blackbox access to the program. Our algorithm addresses shortcomings of existing grammar inference algorithms, which both severely overgeneralize and are prohibitively slow. Our implementation, GLADE, leverages the grammar synthesized by our algorithm to fuzz test programs with structured inputs. We show that GLADE substantially increases the incremental coverage on valid inputs compared to two baseline fuzzers

Learning Tractable Probabilistic Models for Fault Localization

In recent years, several probabilistic techniques have been applied to various debugging problems. However, most existing probabilistic debugging systems use relatively simple statistical models, and fail to generalize across multiple programs. In this work, we propose Tractable Fault Localization Models (TFLMs) that can be learned from data, and probabilistically infer the location of the bug. While most previous statistical debugging methods generalize over many executions of a single program, TFLMs are trained on a corpus of previously seen buggy programs, and learn to identify recurring patterns of bugs. Widely-used fault localization techniques such as TARANTULA evaluate the suspiciousness of each line in isolation; in contrast, a TFLM defines a joint probability distribution over buggy indicator variables for each line. Joint distributions with rich dependency structure are often computationally intractable; TFLMs avoid this by exploiting recent developments in tractable probabilistic models (specifically, Relational SPNs). Further, TFLMs can incorporate additional sources of information, including coverage-based features such as TARANTULA. We evaluate the fault localization performance of TFLMs that include TARANTULA scores as features in the probabilistic model. Our study shows that the learned TFLMs isolate bugs more effectively than previous statistical methods or using TARANTULA directly.Comment: Fifth International Workshop on Statistical Relational AI (StaR-AI 2015