Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning

Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated planning for such systems enables design analysis tools and facilitates faster design iteration cycles for designers and engineers. However, generic task-and-motion planning (TAMP) for long-horizon construction processes is beyond the capabilities of current approaches. In this paper, we develop a multi-agent TAMP framework for long horizon problems such as constructing a full-scale building. To this end we extend the Logic-Geometric Programming framework by sampling-based motion planning,a limited horizon approach, and a task-specific structural stability optimization that allow an effective decomposition of the task. We show that our framework is capable of constructing a large pavilion built from several hundred geometrically unique building elements from start to end autonomously

Automatic Context Pattern Generation for Entity Set Expansion

Entity Set Expansion (ESE) is a valuable task that aims to find entities of the target semantic class described by given seed entities. Various NLP and IR downstream applications have benefited from ESE due to its ability to discover knowledge. Although existing bootstrapping methods have achieved great progress, most of them still rely on manually pre-defined context patterns. A non-negligible shortcoming of the pre-defined context patterns is that they cannot be flexibly generalized to all kinds of semantic classes, and we call this phenomenon as "semantic sensitivity". To address this problem, we devise a context pattern generation module that utilizes autoregressive language models (e.g., GPT-2) to automatically generate high-quality context patterns for entities. In addition, we propose the GAPA, a novel ESE framework that leverages the aforementioned GenerAted PAtterns to expand target entities. Extensive experiments and detailed analyses on three widely used datasets demonstrate the effectiveness of our method. All the codes of our experiments will be available for reproducibility.Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessibl

Guiding Corpus-based Set Expansion by Auxiliary Sets Generation and Co-Expansion

Given a small set of seed entities (e.g., ``USA'', ``Russia''), corpus-based set expansion is to induce an extensive set of entities which share the same semantic class (Country in this example) from a given corpus. Set expansion benefits a wide range of downstream applications in knowledge discovery, such as web search, taxonomy construction, and query suggestion. Existing corpus-based set expansion algorithms typically bootstrap the given seeds by incorporating lexical patterns and distributional similarity. However, due to no negative sets provided explicitly, these methods suffer from semantic drift caused by expanding the seed set freely without guidance. We propose a new framework, Set-CoExpan, that automatically generates auxiliary sets as negative sets that are closely related to the target set of user's interest, and then performs multiple sets co-expansion that extracts discriminative features by comparing target set with auxiliary sets, to form multiple cohesive sets that are distinctive from one another, thus resolving the semantic drift issue. In this paper we demonstrate that by generating auxiliary sets, we can guide the expansion process of target set to avoid touching those ambiguous areas around the border with auxiliary sets, and we show that Set-CoExpan outperforms strong baseline methods significantly.Comment: WWW 202