137,116 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
SCREEN: Learning a Flat Syntactic and Semantic Spoken Language Analysis Using Artificial Neural Networks
In this paper, we describe a so-called screening approach for learning robust
processing of spontaneously spoken language. A screening approach is a flat
analysis which uses shallow sequences of category representations for analyzing
an utterance at various syntactic, semantic and dialog levels. Rather than
using a deeply structured symbolic analysis, we use a flat connectionist
analysis. This screening approach aims at supporting speech and language
processing by using (1) data-driven learning and (2) robustness of
connectionist networks. In order to test this approach, we have developed the
SCREEN system which is based on this new robust, learned and flat analysis.
In this paper, we focus on a detailed description of SCREEN's architecture,
the flat syntactic and semantic analysis, the interaction with a speech
recognizer, and a detailed evaluation analysis of the robustness under the
influence of noisy or incomplete input. The main result of this paper is that
flat representations allow more robust processing of spontaneous spoken
language than deeply structured representations. In particular, we show how the
fault-tolerance and learning capability of connectionist networks can support a
flat analysis for providing more robust spoken-language processing within an
overall hybrid symbolic/connectionist framework.Comment: 51 pages, Postscript. To be published in Journal of Artificial
Intelligence Research 6(1), 199
Gated Recurrent Neural Tensor Network
Recurrent Neural Networks (RNNs), which are a powerful scheme for modeling
temporal and sequential data need to capture long-term dependencies on datasets
and represent them in hidden layers with a powerful model to capture more
information from inputs. For modeling long-term dependencies in a dataset, the
gating mechanism concept can help RNNs remember and forget previous
information. Representing the hidden layers of an RNN with more expressive
operations (i.e., tensor products) helps it learn a more complex relationship
between the current input and the previous hidden layer information. These
ideas can generally improve RNN performances. In this paper, we proposed a
novel RNN architecture that combine the concepts of gating mechanism and the
tensor product into a single model. By combining these two concepts into a
single RNN, our proposed models learn long-term dependencies by modeling with
gating units and obtain more expressive and direct interaction between input
and hidden layers using a tensor product on 3-dimensional array (tensor) weight
parameters. We use Long Short Term Memory (LSTM) RNN and Gated Recurrent Unit
(GRU) RNN and combine them with a tensor product inside their formulations. Our
proposed RNNs, which are called a Long-Short Term Memory Recurrent Neural
Tensor Network (LSTMRNTN) and Gated Recurrent Unit Recurrent Neural Tensor
Network (GRURNTN), are made by combining the LSTM and GRU RNN models with the
tensor product. We conducted experiments with our proposed models on word-level
and character-level language modeling tasks and revealed that our proposed
models significantly improved their performance compared to our baseline
models.Comment: Accepted at IJCNN 2016 URL :
http://ieeexplore.ieee.org/document/7727233
Integrated Inference and Learning of Neural Factors in Structural Support Vector Machines
Tackling pattern recognition problems in areas such as computer vision,
bioinformatics, speech or text recognition is often done best by taking into
account task-specific statistical relations between output variables. In
structured prediction, this internal structure is used to predict multiple
outputs simultaneously, leading to more accurate and coherent predictions.
Structural support vector machines (SSVMs) are nonprobabilistic models that
optimize a joint input-output function through margin-based learning. Because
SSVMs generally disregard the interplay between unary and interaction factors
during the training phase, final parameters are suboptimal. Moreover, its
factors are often restricted to linear combinations of input features, limiting
its generalization power. To improve prediction accuracy, this paper proposes:
(i) Joint inference and learning by integration of back-propagation and
loss-augmented inference in SSVM subgradient descent; (ii) Extending SSVM
factors to neural networks that form highly nonlinear functions of input
features. Image segmentation benchmark results demonstrate improvements over
conventional SSVM training methods in terms of accuracy, highlighting the
feasibility of end-to-end SSVM training with neural factors
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