Syntax-driven argument identification and multi-argument classification for semantic role labeling

Semantic role labeling is an important stage in systems for Natural Language Understanding. The basic problem is one of identifying who did what to whom for each predicate in a sentence. Thus labeling is a two-step process: identify constituent phrases that are arguments to a predicate, then label those arguments with appropriate thematic roles. Existing systems for semantic role labeling use machine learning methods to assign roles one-at-a-time to candidate arguments. There are several drawbacks to this general approach. First, more than one candidate can be assigned the same role, which is undesirable. Second, the search for each candidate argument is exponential with respect to the number of words in the sentence. Third, single-role assignment cannot take advantage of dependencies known to exist between semantic roles of predicate arguments, such as their relative juxtaposition. And fourth, execution times for existing algorithm are excessive, making them unsuitable for real-time use. This thesis seeks to obviate these problems by approaching semantic role labeling as a multi-argument classification process. It observes that the only valid arguments to a predicate are unembedded constituent phrases that do not overlap that predicate. Given that semantic role labeling occurs after parsing, this thesis proposes an algorithm that systematically traverses the parse tree when looking for arguments, thereby eliminating the vast majority of impossible candidates. Moreover, instead of assigning semantic roles one at a time, an algorithm is proposed to assign all labels simultaneously; leveraging dependencies between roles and eliminating the problem of duplicate assignment. Experimental results are provided as evidence to show that a combination of the proposed argument identification and multi-argument classification algorithms outperforms all existing systems that use the same syntactic information

Object recognition based on shape and function

This thesis explores a new approach to computational object recognition by borrowing an idea from child language acquisition studies in developmental psychology. Whereas previous image recognition research used shape to recognize and label a target object, the model proposed in this thesis also uses the function of the object resulting in a more accurate recognition. This thesis makes use of new gaming technology, Microsoft’s Kinect, in implementing the proposed new object recognition model. A demonstration of the model developed in this project properly infers different names for similarly shaped objects and the same name for differently shaped objects

A Deep Neural Network for Pixel-Level Electromagnetic Particle Identification in the MicroBooNE Liquid Argon Time Projection Chamber

We have developed a convolutional neural network (CNN) that can make a pixel-level prediction of objects in image data recorded by a liquid argon time projection chamber (LArTPC) for the first time. We describe the network design, training techniques, and software tools developed to train this network. The goal of this work is to develop a complete deep neural network based data reconstruction chain for the MicroBooNE detector. We show the first demonstration of a network's validity on real LArTPC data using MicroBooNE collection plane images. The demonstration is performed for stopping muon and a $\nu_\mu$ charged current neutral pion data samples

ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenes

Understanding the continuous states of objects is essential for task learning and planning in the real world. However, most existing task learning benchmarks assume discrete(e.g., binary) object goal states, which poses challenges for the learning of complex tasks and transferring learned policy from simulated environments to the real world. Furthermore, state discretization limits a robot's ability to follow human instructions based on the grounding of actions and states. To tackle these challenges, we present ARNOLD, a benchmark that evaluates language-grounded task learning with continuous states in realistic 3D scenes. ARNOLD is comprised of 8 language-conditioned tasks that involve understanding object states and learning policies for continuous goals. To promote language-instructed learning, we provide expert demonstrations with template-generated language descriptions. We assess task performance by utilizing the latest language-conditioned policy learning models. Our results indicate that current models for language-conditioned manipulations continue to experience significant challenges in novel goal-state generalizations, scene generalizations, and object generalizations. These findings highlight the need to develop new algorithms that address this gap and underscore the potential for further research in this area. See our project page at: https://arnold-benchmark.github.ioComment: The first two authors contributed equally; 20 pages; 17 figures; project availalbe: https://arnold-benchmark.github.io

A Whole-Body Pose Taxonomy for Loco-Manipulation Tasks

Exploiting interaction with the environment is a promising and powerful way to enhance stability of humanoid robots and robustness while executing locomotion and manipulation tasks. Recently some works have started to show advances in this direction considering humanoid locomotion with multi-contacts, but to be able to fully develop such abilities in a more autonomous way, we need to first understand and classify the variety of possible poses a humanoid robot can achieve to balance. To this end, we propose the adaptation of a successful idea widely used in the field of robot grasping to the field of humanoid balance with multi-contacts: a whole-body pose taxonomy classifying the set of whole-body robot configurations that use the environment to enhance stability. We have revised criteria of classification used to develop grasping taxonomies, focusing on structuring and simplifying the large number of possible poses the human body can adopt. We propose a taxonomy with 46 poses, containing three main categories, considering number and type of supports as well as possible transitions between poses. The taxonomy induces a classification of motion primitives based on the pose used for support, and a set of rules to store and generate new motions. We present preliminary results that apply known segmentation techniques to motion data from the KIT whole-body motion database. Using motion capture data with multi-contacts, we can identify support poses providing a segmentation that can distinguish between locomotion and manipulation parts of an action.Comment: 8 pages, 7 figures, 1 table with full page figure that appears in landscape page, 2015 IEEE/RSJ International Conference on Intelligent Robots and System

Neural Combinatory Constituency Parsing

東京都立大学Tokyo Metropolitan University博士（情報科学）doctoral thesi