Time-Contrastive Networks: Self-Supervised Learning from Video

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings: imitating object interactions from videos of humans, and imitating human poses. Imitation of human behavior requires a viewpoint-invariant representation that captures the relationships between end-effectors (hands or robot grippers) and the environment, object attributes, and body pose. We train our representations using a metric learning loss, where multiple simultaneous viewpoints of the same observation are attracted in the embedding space, while being repelled from temporal neighbors which are often visually similar but functionally different. In other words, the model simultaneously learns to recognize what is common between different-looking images, and what is different between similar-looking images. This signal causes our model to discover attributes that do not change across viewpoint, but do change across time, while ignoring nuisance variables such as occlusions, motion blur, lighting and background. We demonstrate that this representation can be used by a robot to directly mimic human poses without an explicit correspondence, and that it can be used as a reward function within a reinforcement learning algorithm. While representations are learned from an unlabeled collection of task-related videos, robot behaviors such as pouring are learned by watching a single 3rd-person demonstration by a human. Reward functions obtained by following the human demonstrations under the learned representation enable efficient reinforcement learning that is practical for real-world robotic systems. Video results, open-source code and dataset are available at https://sermanet.github.io/imitat

Modeling Semantics with Gated Graph Neural Networks for Knowledge Base Question Answering

The most approaches to Knowledge Base Question Answering are based on semantic parsing. In this paper, we address the problem of learning vector representations for complex semantic parses that consist of multiple entities and relations. Previous work largely focused on selecting the correct semantic relations for a question and disregarded the structure of the semantic parse: the connections between entities and the directions of the relations. We propose to use Gated Graph Neural Networks to encode the graph structure of the semantic parse. We show on two data sets that the graph networks outperform all baseline models that do not explicitly model the structure. The error analysis confirms that our approach can successfully process complex semantic parses.Comment: Accepted as COLING 2018 Long Paper, 12 page

Generative Adversarial Networks (GANs): Challenges, Solutions, and Future Directions

Generative Adversarial Networks (GANs) is a novel class of deep generative models which has recently gained significant attention. GANs learns complex and high-dimensional distributions implicitly over images, audio, and data. However, there exists major challenges in training of GANs, i.e., mode collapse, non-convergence and instability, due to inappropriate design of network architecture, use of objective function and selection of optimization algorithm. Recently, to address these challenges, several solutions for better design and optimization of GANs have been investigated based on techniques of re-engineered network architectures, new objective functions and alternative optimization algorithms. To the best of our knowledge, there is no existing survey that has particularly focused on broad and systematic developments of these solutions. In this study, we perform a comprehensive survey of the advancements in GANs design and optimization solutions proposed to handle GANs challenges. We first identify key research issues within each design and optimization technique and then propose a new taxonomy to structure solutions by key research issues. In accordance with the taxonomy, we provide a detailed discussion on different GANs variants proposed within each solution and their relationships. Finally, based on the insights gained, we present the promising research directions in this rapidly growing field.Comment: 42 pages, Figure 13, Table

The Neuro-Symbolic Concept Learner: Interpreting Scenes, Words, and Sentences From Natural Supervision

We propose the Neuro-Symbolic Concept Learner (NS-CL), a model that learns visual concepts, words, and semantic parsing of sentences without explicit supervision on any of them; instead, our model learns by simply looking at images and reading paired questions and answers. Our model builds an object-based scene representation and translates sentences into executable, symbolic programs. To bridge the learning of two modules, we use a neuro-symbolic reasoning module that executes these programs on the latent scene representation. Analogical to human concept learning, the perception module learns visual concepts based on the language description of the object being referred to. Meanwhile, the learned visual concepts facilitate learning new words and parsing new sentences. We use curriculum learning to guide the searching over the large compositional space of images and language. Extensive experiments demonstrate the accuracy and efficiency of our model on learning visual concepts, word representations, and semantic parsing of sentences. Further, our method allows easy generalization to new object attributes, compositions, language concepts, scenes and questions, and even new program domains. It also empowers applications including visual question answering and bidirectional image-text retrieval.Comment: ICLR 2019 (Oral). Project page: http://nscl.csail.mit.edu