Learning What To Say And What To Do: A Model For Grounding Language And Actions

Automation is becoming increasingly important in nowadays society, with robots performing a lot of repetitive tasks in industry and even entering our households in the form of vacuum cleaners and lawn mowers. When considering regular tasks outside of the controlled environments of industry, robots tend to perform poorly. In particular, in situations where robots have to interact with humans, a problem arises: how can a robot understand what the human means? While a lot of work has been made in the past towards visual perception and classification of objects, but understanding what action a verb translates into has still been an unexplored area. In solving this challenge, we would enable robots to execute commands given in natural language, and also to verbalise what actions they are performing when prompted. This work studies how a robot can learn the meaning behind the sentences humans use, how it translates into its perception and the real world, but also how to translate its actions into sentences humans understand. To achieve this we propose a novel Bidirectional machine learning model, along with a data collection module that can be used by non-technical users. The main idea behind this model is the ability to generalise to novel concepts, being able to compose new sentences and actions from what it learned previously. Humans show this ability to generalise from a young age, and it is a desirable feature for this model. By using humans natural teaching instincts to teach the robot together with this generalisation ability we hope to obtain a model that allows people everywhere to teach the robot to perform the actions we desire. We validate the model in a number of tasks, using an iCub and Pepper robots physically interacting with objects in order to complete a natural language command. We test different actions, including motor actions and emotional displays, while using both transitive and intransitive verbs in the natural language commands. The main contribution of this thesis is the development of a Bidirectional Learning Algorithm, applied to a Multiple Timescale Recurrent Neural Network enabling these models to link action and language in a bidirectional way. A second contribution sees the extension of Multiple Timescale architectures to Long Short-Term Memory models, increasing the capabilities of these models. Finally the third contribution is in the form of data collection modules, with the development of an easy-to-use module based on physical interaction and speech to provide the iCub and Pepper robots with the data to be learned

A brief review of neural networks based learning and control and their applications for robots

As an imitation of the biological nervous systems, neural networks (NN), which are characterized with powerful learning ability, have been employed in a wide range of applications, such as control of complex nonlinear systems, optimization, system identification and patterns recognition etc. This article aims to bring a brief review of the state-of-art NN for the complex nonlinear systems. Recent progresses of NNs in both theoretical developments and practical applications are investigated and surveyed. Specifically, NN based robot learning and control applications were further reviewed, including NN based robot manipulator control, NN based human robot interaction and NN based behavior recognition and generation

From Biological to Synthetic Neurorobotics Approaches to Understanding the Structure Essential to Consciousness (Part 2)

We have been left with a big challenge, to articulate consciousness and also to prove it in an artificial agent against a biological standard. After introducing Boltuc’s h-consciousness in the last paper, we briefly reviewed some salient neurology in order to sketch less of a standard than a series of targets for artificial consciousness, “most-consciousness” and “myth-consciousness.” With these targets on the horizon, we began reviewing the research program pursued by Jun Tani and colleagues in the isolation of the formal dynamics essential to either. In this paper, we describe in detail Tani’s research program, in order to make the clearest case for artificial consciousness in these systems. In the next paper, the third in the series, we will return to Boltuc’s naturalistic non-reductionism in light of the neurorobotics models introduced (alongside some others), and evaluate them more completely

GPU Computing for Cognitive Robotics

This thesis presents the first investigation of the impact of GPU computing on cognitive robotics by providing a series of novel experiments in the area of action and language acquisition in humanoid robots and computer vision. Cognitive robotics is concerned with endowing robots with high-level cognitive capabilities to enable the achievement of complex goals in complex environments. Reaching the ultimate goal of developing cognitive robots will require tremendous amounts of computational power, which was until recently provided mostly by standard CPU processors. CPU cores are optimised for serial code execution at the expense of parallel execution, which renders them relatively inefficient when it comes to high-performance computing applications. The ever-increasing market demand for high-performance, real-time 3D graphics has evolved the GPU into a highly parallel, multithreaded, many-core processor extraordinary computational power and very high memory bandwidth. These vast computational resources of modern GPUs can now be used by the most of the cognitive robotics models as they tend to be inherently parallel. Various interesting and insightful cognitive models were developed and addressed important scientific questions concerning action-language acquisition and computer vision. While they have provided us with important scientific insights, their complexity and application has not improved much over the last years. The experimental tasks as well as the scale of these models are often minimised to avoid excessive training times that grow exponentially with the number of neurons and the training data. This impedes further progress and development of complex neurocontrollers that would be able to take the cognitive robotics research a step closer to reaching the ultimate goal of creating intelligent machines. This thesis presents several cases where the application of the GPU computing on cognitive robotics algorithms resulted in the development of large-scale neurocontrollers of previously unseen complexity enabling the conducting of the novel experiments described herein.European Commission Seventh Framework Programm

Neural information extraction from natural language text

Natural language processing (NLP) deals with building computational techniques that allow computers to automatically analyze and meaningfully represent human language. With an exponential growth of data in this digital era, the advent of NLP-based systems has enabled us to easily access relevant information via a wide range of applications, such as web search engines, voice assistants, etc. To achieve it, a long-standing research for decades has been focusing on techniques at the intersection of NLP and machine learning. In recent years, deep learning techniques have exploited the expressive power of Artificial Neural Networks (ANNs) and achieved state-of-the-art performance in a wide range of NLP tasks. Being one of the vital properties, Deep Neural Networks (DNNs) can automatically extract complex features from the input data and thus, provide an alternative to the manual process of handcrafted feature engineering. Besides ANNs, Probabilistic Graphical Models (PGMs), a coupling of graph theory and probabilistic methods have the ability to describe causal structure between random variables of the system and capture a principled notion of uncertainty. Given the characteristics of DNNs and PGMs, they are advantageously combined to build powerful neural models in order to understand the underlying complexity of data. Traditional machine learning based NLP systems employed shallow computational methods (e.g., SVM or logistic regression) and relied on handcrafting features which is time-consuming, complex and often incomplete. However, deep learning and neural network based methods have recently shown superior results on various NLP tasks, such as machine translation, text classification, namedentity recognition, relation extraction, textual similarity, etc. These neural models can automatically extract an effective feature representation from training data. This dissertation focuses on two NLP tasks: relation extraction and topic modeling. The former aims at identifying semantic relationships between entities or nominals within a sentence or document. Successfully extracting the semantic relationships greatly contributes in building structured knowledge bases, useful in downstream NLP application areas of web search, question-answering, recommendation engines, etc. On other hand, the task of topic modeling aims at understanding the thematic structures underlying in a collection of documents. Topic modeling is a popular text-mining tool to automatically analyze a large collection of documents and understand topical semantics without actually reading them. In doing so, it generates word clusters (i.e., topics) and document representations useful in document understanding and information retrieval, respectively. Essentially, the tasks of relation extraction and topic modeling are built upon the quality of representations learned from text. In this dissertation, we have developed task-specific neural models for learning representations, coupled with relation extraction and topic modeling tasks in the realms of supervised and unsupervised machine learning paradigms, respectively. More specifically, we make the following contributions in developing neural models for NLP tasks: 1. Neural Relation Extraction: Firstly, we have proposed a novel recurrent neural network based architecture for table-filling in order to jointly perform entity and relation extraction within sentences. Then, we have further extended our scope of extracting relationships between entities across sentence boundaries, and presented a novel dependency-based neural network architecture. The two contributions lie in the supervised paradigm of machine learning. Moreover, we have contributed in building a robust relation extractor constrained by the lack of labeled data, where we have proposed a novel weakly-supervised bootstrapping technique. Given the contributions, we have further explored interpretability of the recurrent neural networks to explain their predictions for the relation extraction task. 2. Neural Topic Modeling: Besides the supervised neural architectures, we have also developed unsupervised neural models to learn meaningful document representations within topic modeling frameworks. Firstly, we have proposed a novel dynamic topic model that captures topics over time. Next, we have contributed in building static topic models without considering temporal dependencies, where we have presented neural topic modeling architectures that also exploit external knowledge, i.e., word embeddings to address data sparsity. Moreover, we have developed neural topic models that incorporate knowledge transfers using both the word embeddings and latent topics from many sources. Finally, we have shown improving neural topic modeling by introducing language structures (e.g., word ordering, local syntactic and semantic information, etc.) that deals with bag-of-words issues in traditional topic models. The class of proposed neural NLP models in this section are based on techniques at the intersection of PGMs, deep learning and ANNs. Here, the task of neural relation extraction employs neural networks to learn representations typically at the sentence level, without access to the broader document context. However, topic models have access to statistical information across documents. Therefore, we advantageously combine the two complementary learning paradigms in a neural composite model, consisting of a neural topic and a neural language model that enables us to jointly learn thematic structures in a document collection via the topic model, and word relations within a sentence via the language model. Overall, our research contributions in this dissertation extend NLP-based systems for relation extraction and topic modeling tasks with state-of-the-art performances

Neural information extraction from natural language text

Natural language processing (NLP) deals with building computational techniques that allow computers to automatically analyze and meaningfully represent human language. With an exponential growth of data in this digital era, the advent of NLP-based systems has enabled us to easily access relevant information via a wide range of applications, such as web search engines, voice assistants, etc. To achieve it, a long-standing research for decades has been focusing on techniques at the intersection of NLP and machine learning. In recent years, deep learning techniques have exploited the expressive power of Artificial Neural Networks (ANNs) and achieved state-of-the-art performance in a wide range of NLP tasks. Being one of the vital properties, Deep Neural Networks (DNNs) can automatically extract complex features from the input data and thus, provide an alternative to the manual process of handcrafted feature engineering. Besides ANNs, Probabilistic Graphical Models (PGMs), a coupling of graph theory and probabilistic methods have the ability to describe causal structure between random variables of the system and capture a principled notion of uncertainty. Given the characteristics of DNNs and PGMs, they are advantageously combined to build powerful neural models in order to understand the underlying complexity of data. Traditional machine learning based NLP systems employed shallow computational methods (e.g., SVM or logistic regression) and relied on handcrafting features which is time-consuming, complex and often incomplete. However, deep learning and neural network based methods have recently shown superior results on various NLP tasks, such as machine translation, text classification, namedentity recognition, relation extraction, textual similarity, etc. These neural models can automatically extract an effective feature representation from training data. This dissertation focuses on two NLP tasks: relation extraction and topic modeling. The former aims at identifying semantic relationships between entities or nominals within a sentence or document. Successfully extracting the semantic relationships greatly contributes in building structured knowledge bases, useful in downstream NLP application areas of web search, question-answering, recommendation engines, etc. On other hand, the task of topic modeling aims at understanding the thematic structures underlying in a collection of documents. Topic modeling is a popular text-mining tool to automatically analyze a large collection of documents and understand topical semantics without actually reading them. In doing so, it generates word clusters (i.e., topics) and document representations useful in document understanding and information retrieval, respectively. Essentially, the tasks of relation extraction and topic modeling are built upon the quality of representations learned from text. In this dissertation, we have developed task-specific neural models for learning representations, coupled with relation extraction and topic modeling tasks in the realms of supervised and unsupervised machine learning paradigms, respectively. More specifically, we make the following contributions in developing neural models for NLP tasks: 1. Neural Relation Extraction: Firstly, we have proposed a novel recurrent neural network based architecture for table-filling in order to jointly perform entity and relation extraction within sentences. Then, we have further extended our scope of extracting relationships between entities across sentence boundaries, and presented a novel dependency-based neural network architecture. The two contributions lie in the supervised paradigm of machine learning. Moreover, we have contributed in building a robust relation extractor constrained by the lack of labeled data, where we have proposed a novel weakly-supervised bootstrapping technique. Given the contributions, we have further explored interpretability of the recurrent neural networks to explain their predictions for the relation extraction task. 2. Neural Topic Modeling: Besides the supervised neural architectures, we have also developed unsupervised neural models to learn meaningful document representations within topic modeling frameworks. Firstly, we have proposed a novel dynamic topic model that captures topics over time. Next, we have contributed in building static topic models without considering temporal dependencies, where we have presented neural topic modeling architectures that also exploit external knowledge, i.e., word embeddings to address data sparsity. Moreover, we have developed neural topic models that incorporate knowledge transfers using both the word embeddings and latent topics from many sources. Finally, we have shown improving neural topic modeling by introducing language structures (e.g., word ordering, local syntactic and semantic information, etc.) that deals with bag-of-words issues in traditional topic models. The class of proposed neural NLP models in this section are based on techniques at the intersection of PGMs, deep learning and ANNs. Here, the task of neural relation extraction employs neural networks to learn representations typically at the sentence level, without access to the broader document context. However, topic models have access to statistical information across documents. Therefore, we advantageously combine the two complementary learning paradigms in a neural composite model, consisting of a neural topic and a neural language model that enables us to jointly learn thematic structures in a document collection via the topic model, and word relations within a sentence via the language model. Overall, our research contributions in this dissertation extend NLP-based systems for relation extraction and topic modeling tasks with state-of-the-art performances

Spatial relation learning in complementary scenarios with deep neural networks

A cognitive agent performing in the real world needs to learn relevant concepts about its environment (e.g., objects, color, and shapes) and react accordingly. In addition to learning the concepts, it needs to learn relations between the concepts, in particular spatial relations between objects. In this paper, we propose three approaches that allow a cognitive agent to learn spatial relations. First, using an embodied model, the agent learns to reach toward an object based on simple instructions involving left-right relations. Since the level of realism and its complexity does not permit large-scale and diverse experiences in this approach, we devise as a second approach a simple visual dataset for geometric feature learning and show that recent reasoning models can learn directional relations in different frames of reference. Yet, embodied and simple simulation approaches together still do not provide sufficient experiences. To close this gap, we thirdly propose utilizing knowledge bases for disembodied spatial relation reasoning. Since the three approaches (i.e., embodied learning, learning from simple visual data, and use of knowledge bases) are complementary, we conceptualize a cognitive architecture that combines these approaches in the context of spatial relation learning