15,666 research outputs found
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
Do Multi-Sense Embeddings Improve Natural Language Understanding?
Learning a distinct representation for each sense of an ambiguous word could
lead to more powerful and fine-grained models of vector-space representations.
Yet while `multi-sense' methods have been proposed and tested on artificial
word-similarity tasks, we don't know if they improve real natural language
understanding tasks. In this paper we introduce a multi-sense embedding model
based on Chinese Restaurant Processes that achieves state of the art
performance on matching human word similarity judgments, and propose a
pipelined architecture for incorporating multi-sense embeddings into language
understanding.
We then test the performance of our model on part-of-speech tagging, named
entity recognition, sentiment analysis, semantic relation identification and
semantic relatedness, controlling for embedding dimensionality. We find that
multi-sense embeddings do improve performance on some tasks (part-of-speech
tagging, semantic relation identification, semantic relatedness) but not on
others (named entity recognition, various forms of sentiment analysis). We
discuss how these differences may be caused by the different role of word sense
information in each of the tasks. The results highlight the importance of
testing embedding models in real applications
A Dataset for Movie Description
Descriptive video service (DVS) provides linguistic descriptions of movies
and allows visually impaired people to follow a movie along with their peers.
Such descriptions are by design mainly visual and thus naturally form an
interesting data source for computer vision and computational linguistics. In
this work we propose a novel dataset which contains transcribed DVS, which is
temporally aligned to full length HD movies. In addition we also collected the
aligned movie scripts which have been used in prior work and compare the two
different sources of descriptions. In total the Movie Description dataset
contains a parallel corpus of over 54,000 sentences and video snippets from 72
HD movies. We characterize the dataset by benchmarking different approaches for
generating video descriptions. Comparing DVS to scripts, we find that DVS is
far more visual and describes precisely what is shown rather than what should
happen according to the scripts created prior to movie production
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