Learning a natural-language to LTL executable semantic parser for grounded robotics

Children acquire their native language with apparent ease by observing how language is used in context and attempting to use it themselves. They do so without laborious annotations, negative examples, or even direct corrections. We take a step toward robots that can do the same by training a grounded semantic parser, which discovers latent linguistic representations that can be used for the execution of natural-language commands. In particular, we focus on the difficult domain of commands with a temporal aspect, whose semantics we capture with Linear Temporal Logic, LTL. Our parser is trained with pairs of sentences and executions as well as an executor. At training time, the parser hypothesizes a meaning representation for the input as a formula in LTL. Three competing pressures allow the parser to discover meaning from language. First, any hypothesized meaning for a sentence must be permissive enough to reflect all the annotated execution trajectories. Second, the executor -- a pretrained end-to-end LTL planner -- must find that the observe trajectories are likely executions of the meaning. Finally, a generator, which reconstructs the original input, encourages the model to find representations that conserve knowledge about the command. Together these ensure that the meaning is neither too general nor too specific. Our model generalizes well, being able to parse and execute both machine-generated and human-generated commands, with near-equal accuracy, despite the fact that the human-generated sentences are much more varied and complex with an open lexicon. The approach presented here is not specific to LTL: it can be applied to any domain where sentence meanings can be hypothesized and an executor can verify these meanings, thus opening the door to many applications for robotic agents.Comment: 10 pages, 2 figures, Accepted in Conference on Robot Learning (CoRL) 202

Reinforcement Learning for Machine Translation: from Simulations to Real-World Applications

If a machine translation is wrong, how we can tell the underlying model to fix it? Answering this question requires (1) a machine learning algorithm to define update rules, (2) an interface for feedback to be submitted, and (3) expertise on the side of the human who gives the feedback. This thesis investigates solutions for machine learning updates, the suitability of feedback interfaces, and the dependency on reliability and expertise for different types of feedback. We start with an interactive online learning scenario where a machine translation (MT) system receives bandit feedback (i.e. only once per source) instead of references for learning. Policy gradient algorithms for statistical and neural MT are developed to learn from absolute and pairwise judgments. Our experiments on domain adaptation with simulated online feedback show that the models can largely improve under weak feedback, with variance reduction techniques being very effective. In production environments offline learning is often preferred over online learning. We evaluate algorithms for counterfactual learning from human feedback in a study on eBay product title translations. Feedback is either collected via explicit star ratings from users, or implicitly from the user interaction with cross-lingual product search. Leveraging implicit feedback turns out to be more successful due to lower levels of noise. We compare the reliability and learnability of absolute Likert-scale ratings with pairwise preferences in a smaller user study, and find that absolute ratings are overall more effective for improvements in down-stream tasks. Furthermore, we discover that error markings provide a cheap and practical alternative to error corrections. In a generalized interactive learning framework we propose a self-regulation approach, where the learner, guided by a regulator module, decides which type of feedback to choose for each input. The regulator is reinforced to find a good trade-off between supervision effect and cost. In our experiments, it discovers strategies that are more efficient than active learning and standard fully supervised learning